From e72a4906c9d5c3c29da5fa45097d3b49477557ee Mon Sep 17 00:00:00 2001
From: Jiri Vlasak <hubacji1@fel.cvut.cz>
Date: Mon, 9 Nov 2020 12:51:58 +0100
Subject: [PATCH] Finish after 2 seconds

Do not finish when goal found, try to find better solution yet.
---
 src/rrts.cc | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/rrts.cc b/src/rrts.cc
index 5d7e767..413ed18 100644
--- 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;
 }
-- 
2.39.2