From 94c662e424fd608acb68cfb9b619640277618a31 Mon Sep 17 00:00:00 2001
From: Jiri Hubacek <hubacji1@fel.cvut.cz>
Date: Sat, 6 Oct 2018 21:10:25 +0200
Subject: [PATCH] Fix heading overwriting in `nn4`

---
 base/nn.cc | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/base/nn.cc b/base/nn.cc
index c9aea72..aa9eeaf 100644
--- a/base/nn.cc
+++ b/base/nn.cc
@@ -124,17 +124,20 @@ RRTNode *nn4(
         unsigned int i = 0; // vector step
         unsigned int j = 0; // array step
         int iyj = 0;
+        float oh = 0;
         while (nn.mc > j * IYSTEP) {
                 iyj = (int) (iy + j);
                 if (iyj >= IYSIZE)
                         iyj = IYSIZE - 1;
                 #pragma omp parallel for reduction(minn: nn)
                 for (i = 0; i < nodes[iyj].size(); i++) {
+                        oh = node->h();
                         node->h(nodes[iyj][i]->h());
                         if ((*cost)(nodes[iyj][i], node) < nn.mc) {
                                 nn.mc = (*cost)(nodes[iyj][i], node);
                                 nn.nn = nodes[iyj][i];
                         }
+                        node->h(oh);
                 }
                 if (j > 0) {
                         iyj = (int) (iy - j);
@@ -142,11 +145,13 @@ RRTNode *nn4(
                                 iyj = 0;
                         #pragma omp parallel for reduction(minn: nn)
                         for (i = 0; i < nodes[iyj].size(); i++) {
+                                oh = node->h();
                                 node->h(nodes[iyj][i]->h());
                                 if ((*cost)(nodes[iyj][i], node) < nn.mc) {
                                         nn.mc = (*cost)(nodes[iyj][i], node);
                                         nn.nn = nodes[iyj][i];
                                 }
+                                node->h(oh);
                         }
                 }
                 j++;
-- 
2.39.2