From: Jiri Vlasak <hubacji1@fel.cvut.cz>
Date: Tue, 15 Jan 2019 15:06:07 +0000 (+0100)
Subject: Prevent running `findt()` twice
X-Git-Tag: v0.4.0~1^2~2
X-Git-Url: https://rtime.felk.cvut.cz/gitweb/hubacji1/iamcar.git/commitdiff_plain/360ad9eb7f9b2fc8261f7fafa464c3ae0e5ccda5

Prevent running `findt()` twice

It should be run only in T3 planner.
---

diff --git a/decision_control/rrtplanner.cc b/decision_control/rrtplanner.cc
index 62aaac3..c3b45bb 100644
--- 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;
                                         }
                                 }