From 37bc0e780e602c2ef4c0ab75878f2fc4d673eb62 Mon Sep 17 00:00:00 2001 From: Jiri Hubacek Date: Wed, 26 Sep 2018 10:35:34 +0200 Subject: [PATCH] Fix max cusps for path from steer procedure --- decision_control/rrtplanner.cc | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/decision_control/rrtplanner.cc b/decision_control/rrtplanner.cc index 3212f6b..535e9bc 100644 --- a/decision_control/rrtplanner.cc +++ b/decision_control/rrtplanner.cc @@ -461,11 +461,11 @@ bool T2::next() delete ns; } else if (IS_NEAR(pn, ns)) { delete ns; - } else if (cusps > 0) { - en_add = false; } else { if (sgn(pn->s()) != sgn(ns->s())) cusps++; + if (cusps > 0) + en_add = false; #if NVVERSION>1 nvs = this->nv( this->iy_, @@ -515,11 +515,11 @@ bool T2::next() delete ns; } else if (IS_NEAR(pn, ns)) { delete ns; - } else if (cusps > 0) { - en_add = false; } else { if (sgn(pn->s()) != sgn(ns->s())) cusps++; + if (cusps > 0) + en_add = false; this->nodes().push_back(ns); this->add_iy(ns); pn->add_child(ns, this->cost(pn, ns)); -- 2.39.2