Estimate if should run path optimization

diff --git a/src/rrtext13.cc b/src/rrtext13.cc
index 63c2b26aea251f4bd022ad1032748b6662a43b95..cbb1e96e229a84607412ca74d1fea600a69ac577 100644 (file)
--- a/src/rrtext13.cc
+++ b/src/rrtext13.cc
@@ -215,8 +215,8 @@ RRTExt13::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_
+#if 1 // TODO 0.59 should work for sc4-1-0 only.
+       if (this->goal_.cc() * 0.8 > this->last_goal_cc_
                        && this->last_goal_cc_ != 0.0) {
                return;
        }