auto max_steer = bc.st();
// map t.h() in -PI...+PI to -max_steer...+max_steer
bc.st(2 * max_steer * this->udh_(this->gen_) / (2 * M_PI) - max_steer);
- bc.sp((this->udy_(this->gen_) > 0.5) ? 0.2 : -0.2);
+ bc.sp((this->udy_(this->gen_) > 0.5) ? 0.5 : -0.5);
this->steered().clear();
while (true) {
bc.next();
if (sqrt(
pow(f->x() - t->x(), 2)
+ pow(f->y() - t->y(), 2)
- ) > 0.2)
+ ) > 0.5)
return false;
// cont.
this->store_node(this->steered().front());
if (this->icnt_ == 0)
this->tstart_ = std::chrono::high_resolution_clock::now();
bool next = true;
- if (this->scnt_ > this->log_path_time_)
+ if (this->icnt_ > this->log_path_iter_)
this->log_path_cost();
if (this->should_stop())
return false;