From: Jiri Hubacek <hubacji1@fel.cvut.cz>
Date: Wed, 19 Sep 2018 13:50:23 +0000 (+0200)
Subject: Remove samples traversing in rebase method
X-Git-Tag: v0.2.0~49^2~1
X-Git-Url: https://rtime.felk.cvut.cz/gitweb/hubacji1/iamcar.git/commitdiff_plain/3055084dd4ff67dfc62b31cd4a1d10491f275e4a

Remove samples traversing in rebase method

Samples are not added to RRT so no need to traverse when rebasing.
---

diff --git a/base/rrtbase.cc b/base/rrtbase.cc
index 6607fdf..9e74a5b 100644
--- a/base/rrtbase.cc
+++ b/base/rrtbase.cc
@@ -355,14 +355,6 @@ bool RRTBase::rebase(RRTNode *nr)
                 }
                 if (to_del < this->nodes_.size())
                         this->nodes_.erase(this->nodes_.begin() + to_del);
-                to_del = this->samples_.size();
-                #pragma omp parallel for reduction(min: to_del)
-                for (i = 0; i < this->samples_.size(); i++) {
-                        if (this->samples_[i] == tmp)
-                                to_del = i;
-                }
-                if (to_del < this->samples_.size())
-                        this->samples_.erase(this->nodes_.begin() + to_del);
                 iy = floor(tmp->y() / IYSTEP);
                 to_del = this->iy_[iy].size();
                 #pragma omp parallel  for reduction(min: to_del)