Fix scaling for `iy_` nearest neighbour structure

diff --git a/base/rrtbase.cc b/base/rrtbase.cc
index 9b9096a3f0e36c80a59bc80e5c68608a1037aa40..73448dddc009d267cdb5966050eff8b66e50793b 100644 (file)
--- a/base/rrtbase.cc
+++ b/base/rrtbase.cc
@@ -357,7 +357,7 @@ bool RRTBase::rebase(RRTNode *nr)
                 }
                 if (to_del < this->samples_.size())
                         this->samples_.erase(this->nodes_.begin() + to_del);
-                iy = floor(tmp->y() / IYSTEP) + floor(IYSIZE / 2);
+                iy = floor(tmp->y() / IYSTEP);
                 to_del = this->iy_[iy].size();
                 #pragma omp parallel  for reduction(min: to_del)
                 for (i = 0; i < this->iy_[iy].size(); i++) {