Remove commented code

diff --git a/src/rrts.cc b/src/rrts.cc
index 8e1280e972730e125be69758569e83824f64b70d..f96cef47f8854b645fc889b68544b4aa60dfe672 100644 (file)
--- a/src/rrts.cc
+++ b/src/rrts.cc
@@ -305,11 +305,6 @@ RRTS::next()
        RRTNode* just_added = &this->nodes_.back();
        bool gf = false;
        while (ss > 0 && just_added->p() != nullptr) {
-               //if (!this->goal_drivable_from(*just_added)) {
-               //      ss--;
-               //      just_added = just_added->p();
-               //      continue;
-               //}
                this->steer(*just_added, this->goal_);
                if (this->collide_steered()) {
                        ss--;
@@ -346,25 +341,6 @@ RRTS::next()
        if (gf) {
                this->compute_path();
        }
-       ////if (!this->goal_drivable_from(this->nodes_.back())) {
-       ////    return this->should_continue();
-       ////}
-       //this->steer(this->nodes_.back(), this->goal_);
-       //if (this->collide_steered()) {
-       //      return this->should_continue();
-       //}
-       //this->join_steered(&this->nodes_.back());
-       //bool gn = this->goal_.edist(this->nodes_.back()) < this->eta_;
-       //bool gd = this->goal_drivable_from(this->nodes_.back());
-       //if (gn && gd) {
-       //      double nc = this->cost_build(this->nodes_.back(), this->goal_);
-       //      double ncc = this->nodes_.back().cc() + nc;
-       //      if (this->goal_.p() == nullptr || ncc < this->goal_.cc()) {
-       //              this->goal_.p(this->nodes_.back());
-       //              this->goal_.c(nc);
-       //              this->compute_path();
-       //      }
-       //}
        this->time_ = this->ter_.scnt();
        return this->should_continue();
 }