Revert 100e888

It would be necessary to recompute all cc of all the child node, which
is impossible by the architecture. (RRTNode knows about its parent
only.)

diff --git a/src/rrts.cc b/src/rrts.cc
index f96cef47f8854b645fc889b68544b4aa60dfe672..029997e1c73173a702f1bc9712fc698ddd923d03 100644 (file)
--- a/src/rrts.cc
+++ b/src/rrts.cc
@@ -328,16 +328,6 @@ RRTS::next()
                ss--;
                just_added = just_added->p();
        }
-#if 1 // test if root -> just_added can be steered directly
-       this->steer(this->nodes_.front(), *just_added);
-       ss = this->steered_.size();
-       if (!this->collide_steered() && this->steered_.size() == ss) {
-               this->join_steered(&this->nodes_.front());
-               just_added->p(this->nodes_.back());
-               just_added->c(this->cost_build(this->nodes_.back(),
-                       *just_added));
-       }
-#endif
        if (gf) {
                this->compute_path();
        }