From 6b9cfcc537e537a4f0d62be12c87ab3857a10204 Mon Sep 17 00:00:00 2001
From: Jiri Hubacek <hubacji1@fel.cvut.cz>
Date: Sat, 6 Oct 2018 14:34:09 +0200
Subject: [PATCH] Fix path optimization while not optimal

---
 CHANGELOG.md | 2 ++
 base/main.cc | 2 +-
 2 files changed, 3 insertions(+), 1 deletion(-)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 6dc2fe4..32a4088 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -8,6 +8,8 @@ The format is based on [Keep a Changelog][] and this project adheres to
 [Semantic Versioning]: http://semver.org/
 
 ## Unreleased
+### Fixed
+- Optimize path until optimal.
 
 ## 0.2.0 - 2018-10-06
 ### Added
diff --git a/base/main.cc b/base/main.cc
index 6ac49ed..b2ccb71 100644
--- a/base/main.cc
+++ b/base/main.cc
@@ -102,7 +102,7 @@ int main()
         while (run_planner) {
                 p.next();
                 p.tend();
-                if (p.opt_path())
+                while (p.opt_path())
                         p.tlog(p.findt());
 #ifdef USE_GL
                 p.glplot();
-- 
2.39.2