Fix goal found parameters

diff --git a/incl/rrtbase.h b/incl/rrtbase.h
index ec2ea31e4843d210edd017eff784e66f9c9a2cf7..a3efba2e713e3020a67f96878862a8ac6725f944 100644 (file)
--- a/incl/rrtbase.h
+++ b/incl/rrtbase.h
@@ -46,8 +46,8 @@ class RRTBase {
                 std::vector<float> slog_; // seconds of trajectories
                 std::vector<std::vector<RRTNode *>> tlog_; // trajectories
         public:
-                const float GOAL_FOUND_DISTANCE = 1;
-                const float GOAL_FOUND_ANGLE = 2 * M_PI;
+                const float GOAL_FOUND_DISTANCE = 0.2;
+                const float GOAL_FOUND_ANGLE = M_PI / 32;
 
                 RRTBase();
                 RRTBase(RRTNode *init, RRTNode *goal);