Add commented options for nn, cusps

diff --git a/base/rrtbase.cc b/base/rrtbase.cc
index 706eab2c10ca913ff05b8bb4a730b109b75c00cf..f4b5720a100f0f9db5f14d35f8c3f5f64ad16ada 100644 (file)
--- a/base/rrtbase.cc
+++ b/base/rrtbase.cc
@@ -621,6 +621,7 @@ bool RRTBase::opt_path()
                         tmp_cusps.push_back(n);
                         tmp_cusps.push_back(n->parent());
                 }
+                //tmp_cusps.push_back(n);
         }
         if (tmp_cusps.size() < 2)
                 return false;
@@ -741,6 +742,7 @@ float RRTBase::cost(RRTNode *init, RRTNode *goal)
 RRTNode *RRTBase::nn(RRTNode *rs)
 {
         return nn4(this->iy_, rs, nullptr);
+        //return nn3(this->iy_, rs, nullptr);
 }
 
 std::vector<RRTNode *> RRTBase::nv(RRTNode *node, float dist)