From: Jiri Vlasak <jiri.vlasak.2@cvut.cz>
Date: Tue, 24 Aug 2021 08:02:44 +0000 (+0200)
Subject: Remove commented code
X-Git-Tag: v0.9.0~6^2~1
X-Git-Url: http://rtime.felk.cvut.cz/gitweb/hubacji1/rrts.git/commitdiff_plain/941822d78eb511fac64c37d092a6a2150be3bc2c

Remove commented code
---

diff --git a/src/rrts.cc b/src/rrts.cc
index 8e1280e..f96cef4 100644
--- 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();
 }