}
void
-RRTNode::p(RRTNode& p, bool connecting_goal)
+RRTNode::p(RRTNode& p, bool can_be_too_close)
{
assert(this != &p);
- if (!connecting_goal) {
+ if (!can_be_too_close) {
assert(!(std::abs(p.x() - this->x()) < 1e-3
&& std::abs(p.y() - this->y()) < 1e-3
&& std::abs(p.h() - this->h()) < 1e-3));