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Prevent running `findt()` twice
authorJiri Vlasak <hubacji1@fel.cvut.cz>
Tue, 15 Jan 2019 15:06:07 +0000 (16:06 +0100)
committerJiri Vlasak <hubacji1@fel.cvut.cz>
Wed, 16 Jan 2019 08:30:50 +0000 (09:30 +0100)
It should be run only in T3 planner.

decision_control/rrtplanner.cc patch | blob | history

diff --git a/decision_control/rrtplanner.cc b/decision_control/rrtplanner.cc
index 62aaac3577510e1803c8fe7ced1c77eed44439c9..c3b45bbba576784a0c278f47184062ec19c88df1 100644 (file)
--- a/decision_control/rrtplanner.cc
+++ b/decision_control/rrtplanner.cc
@@ -448,7 +448,6 @@ bool T2::next()
                                 newly_added.push_back(pn);
                                 if (this->goal_found(pn, CO)) {
                                         this->goal_cost();
-                                        this->tlog(this->findt());
                                         en_add = false;
                                 }
                         }
@@ -487,7 +486,6 @@ bool T2::next()
                                 newly_added.push_back(pn);
                                 if (this->goal_found(pn, CO)) {
                                         this->goal_cost();
-                                        this->tlog(this->findt());
                                         en_add = false;
                                 }
                         }
@@ -524,7 +522,6 @@ bool T2::next()
                                         pn = ns;
                                         if (this->goal_found(pn, CO)) {
                                                 this->goal_cost();
-                                                this->tlog(this->findt());
                                                 en_add = false;
                                         }
                                 }
@@ -557,7 +554,6 @@ bool T2::next()
                                         pn = ns;
                                         if (this->goal_found(pn, CO)) {
                                                 this->goal_cost();
-                                                this->tlog(this->findt());
                                                 en_add = false;
                                         }
                                 }