+ //// TRY TO STEER
+ //steered.clear();
+ //steered = p.steer(rn, gn);
+ //for (unsigned int k = 0; k < steered.size() - 1; k++)
+ // steered[k]->add_child(steered[k + 1], 1);
+ //if (p.collide(
+ // steered[0],
+ // steered[steered.size() - 1])) {
+ // for (auto n: steered)
+ // delete n;
+ // continue;
+ //}
+ //if (steered[steered.size() - 1]->ccost() +
+ // rn->ccost() +
+ // gn->ccost() < mc) {
+ // gf = true;
+ // p.goal_found(true);
+ // ron = rn;
+ // gon = gn;
+ // mc = steered[steered.size() - 1]->ccost() +
+ // rn->ccost() +
+ // gn->ccost();
+ //}
+ //for (auto n: steered)
+ // delete n;
+ //p.tend();
+ //if (p.elapsed() >= TMAX)
+ // goto escapeloop;
+ //// END OF STEER