Add escape-from-loop in overlap trees of T3

diff --git a/base/main.cc b/base/main.cc
index 87ab9799470e6417e8081010b5c7fb24c9d4b6b5..6fdb3152411e519a1ab47d5efa6e9a435c0c2532 100644 (file)
--- a/base/main.cc
+++ b/base/main.cc
@@ -217,10 +217,14 @@ for (auto gn: p.p_goal_.ixy_[i][j].nodes()) {
         }
 }}
                         }
+                        p.tend();
+                        if (p.elapsed() >= TMAX)
+                                goto escapeloop;
                 }}
                 // end of overlap trees
                 p.tend();
         }
+escapeloop:
         pthread_join(rt, NULL);
         pthread_join(gt, NULL);
         if (p.p_root_.goal_found() && p.p_root_.goal()->ccost() < mc) {