Add finishit variable to rrts

diff --git a/api/rrts.h b/api/rrts.h
index 974a3fd3df44b2543766fb223bafcbc7b6368114..612c1f5d111a922c8f213a748a998a706664d1c3 100644 (file)
--- a/api/rrts.h
+++ b/api/rrts.h
@@ -169,6 +169,7 @@ class RRTS {
                 */
                 void set_sample_uniform_circle();
         protected:
+                bool finishit = false;
                 double path_cost_before_opt_ = 9999;
 
                 BicycleCar bc;

diff --git a/src/rrts.cc b/src/rrts.cc
index f296609869a01697889e9018fc99f6f6b98352b3..4f65b5fe58a0518d77fe6a482e6d0beb7330f158 100644 (file)
--- a/src/rrts.cc
+++ b/src/rrts.cc
@@ -65,6 +65,7 @@ bool RRTS::should_finish()
         // decide finish conditions (maybe comment some lines)
         //if (this->icnt_ > 999) return true;
         if (this->scnt_ > 2) return true;
+        if (this->finishit) return true;
         //if (this->gf()) return true;
         // but continue by default
         return false;