When path not found, do not optimize it

Reseting ogoal_cc and otime is not desired as the original path is the
first path found (even with reset.)

diff --git a/src/rrtext13.cc b/src/rrtext13.cc
index 8c5a45108df68589fcc406befe52416ef57a0fa7..602788674d2f4dc5d20d573b4abae51e00cca122 100644 (file)
--- a/src/rrtext13.cc
+++ b/src/rrtext13.cc
@@ -138,6 +138,9 @@ void
 RRTExt13::compute_path()
 {
        RRTS::compute_path();
+       if (this->goal_.cc() == 0.0 || this->path_.size() == 0) {
+               return;
+       }
 #if 0 // TODO 0.59 should work for sc4-1-0 only.
        if (this->goal_.cc() * 0.59 > this->last_goal_cc_
                        && this->last_goal_cc_ != 0.0) {
@@ -199,8 +202,6 @@ RRTExt13::reset()
 {
        RRTS::reset();
        this->opath_.clear();
-       this->ogoal_cc_ = 0.0;
-       this->otime_ = 0.0;
 }
 
 } // namespace rrts