Fix path optimization while not optimal

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 6dc2fe416e0e1bd3f9be5dacdc5861a825329db0..32a4088e8eb622496bebe7aff116b7696f8e335a 100644 (file)
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -8,6 +8,8 @@ The format is based on [Keep a Changelog][] and this project adheres to
 [Semantic Versioning]: http://semver.org/
 
 ## Unreleased
+### Fixed
+- Optimize path until optimal.
 
 ## 0.2.0 - 2018-10-06
 ### Added

diff --git a/base/main.cc b/base/main.cc
index 6ac49ededd13ea211dc867a3d4330864511e34bd..b2ccb71a1f124a64ad1707b805cea7afbe0d6296 100644 (file)
--- a/base/main.cc
+++ b/base/main.cc
@@ -102,7 +102,7 @@ int main()
         while (run_planner) {
                 p.next();
                 p.tend();
-                if (p.opt_path())
+                while (p.opt_path())
                         p.tlog(p.findt());
 #ifdef USE_GL
                 p.glplot();