Return false if no trajectory found

diff --git a/decision_control/rrtplanner.cc b/decision_control/rrtplanner.cc
index 466d27407ea7ed0061d0fba510884e7a7abbecea..0d09d642932ebb3fc6a1d7097267bb0dd79e5a37 100644 (file)
--- a/decision_control/rrtplanner.cc
+++ b/decision_control/rrtplanner.cc
@@ -593,9 +593,9 @@ float T2::goal_cost()
 
 bool T2::opt_path()
 {
-        std::vector<RRTNode *> cusps;
         if (this->tlog().size() == 0)
                 return false;
+        std::vector<RRTNode *> cusps;
         for (auto n: this->tlog().back()) {
                 if (n->parent() && sgn(n->s()) != sgn(n->parent()->s()))
                                 cusps.push_back(n);