From: Jiri Hubacek <hubacji1@fel.cvut.cz>
Date: Sat, 6 Oct 2018 11:19:06 +0000 (+0200)
Subject: Remove unused vector, use `npi` for parent node
X-Git-Tag: v0.2.0~1^2~1
X-Git-Url: https://rtime.felk.cvut.cz/gitweb/hubacji1/iamcar.git/commitdiff_plain/b0ffc694ed8cf255325018cbe67a75b6ff758ab8

Remove unused vector, use `npi` for parent node
---

diff --git a/decision_control/rrtplanner.cc b/decision_control/rrtplanner.cc
index 744a662..2b93dbc 100644
--- a/decision_control/rrtplanner.cc
+++ b/decision_control/rrtplanner.cc
@@ -696,9 +696,8 @@ bool T2::opt_path()
                 tmpi = dnodes[tmpi].pi;
         }
         npi.push_back(tmpi);
-        std::vector<RRTNode *> npn; // new path nodes
         std::reverse(npi.begin(), npi.end());
-        RRTNode *pn = cusps[0];
+        RRTNode *pn = cusps[npi[0]];
         for (unsigned int i = 0; i < npi.size() - 1; i++) {
                 for (auto ns: this->steer(cusps[npi[i]], cusps[npi[i + 1]])) {
                         pn->add_child(ns, this->cost(pn, ns));