From f80bcf3a525f6e8aef9b82207fc24db0ac013c97 Mon Sep 17 00:00:00 2001
From: Jiri Vlasak <hubacji1@fel.cvut.cz>
Date: Fri, 3 Jan 2020 15:01:55 +0100
Subject: [PATCH] Finish only after 5 secs, do not break

---
 src/rrts.cc | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/rrts.cc b/src/rrts.cc
index ecb6649..1facda2 100644
--- a/src/rrts.cc
+++ b/src/rrts.cc
@@ -45,8 +45,8 @@ bool RRTS::should_stop()
 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->icnt_ > 999) return true;
+        if (this->scnt_ > 5) return true;
         if (this->gf()) return true;
         // but continue by default
         return false;
@@ -55,7 +55,7 @@ bool RRTS::should_finish()
 bool RRTS::should_break()
 {
         // decide break conditions (maybe comment some lines)
-        if (this->scnt_ - this->pcnt_ > 2) return true;
+        //if (this->scnt_ - this->pcnt_ > 2) return true;
         // but continue by default
         return false;
 }
-- 
2.39.2