From: Jiri Vlasak <jiri.vlasak.2@cvut.cz>
Date: Fri, 10 Sep 2021 10:42:39 +0000 (+0200)
Subject: Estimate if should run path optimization
X-Git-Tag: v0.9.0~2^2~2
X-Git-Url: http://rtime.felk.cvut.cz/gitweb/hubacji1/rrts.git/commitdiff_plain/e821189278b63ba21642e9f6fe791323951e043b

Estimate if should run path optimization
---

diff --git a/src/rrtext13.cc b/src/rrtext13.cc
index 63c2b26..cbb1e96 100644
--- 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;
 	}