From bf142342ed62e44003b73164e8f73d5c3c9a411c Mon Sep 17 00:00:00 2001
From: Jiri Vlasak <hubacji1@fel.cvut.cz>
Date: Fri, 19 Mar 2021 10:58:59 +0100
Subject: [PATCH] Add finishit variable to rrts

---
 api/rrts.h  | 1 +
 src/rrts.cc | 1 +
 2 files changed, 2 insertions(+)

diff --git a/api/rrts.h b/api/rrts.h
index 974a3fd..612c1f5 100644
--- 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 f296609..4f65b5f 100644
--- 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;
-- 
2.39.2