Finish after 2 seconds

Do not finish when goal found, try to find better solution yet.

diff --git a/src/rrts.cc b/src/rrts.cc
index 5d7e76766b1e8dd7623c1fd837a8e959b2953bc2..413ed185da455a9c26f8c996fbf894e9db016234 100644 (file)
--- a/src/rrts.cc
+++ b/src/rrts.cc
@@ -64,8 +64,8 @@ bool RRTS::should_finish()
 {
         // decide finish conditions (maybe comment some lines)
         //if (this->icnt_ > 999) return true;
-        if (this->scnt_ > 10) return true;
-        if (this->gf()) return true;
+        if (this->scnt_ > 2) return true;
+        //if (this->gf()) return true;
         // but continue by default
         return false;
 }