From a2f50f5c599cfa1d0790a7eb3a0840cc642ec805 Mon Sep 17 00:00:00 2001
From: Jiri Vlasak <hubacji1@fel.cvut.cz>
Date: Mon, 14 Jan 2019 16:17:42 +0100
Subject: [PATCH] Set T3 goal found when trees overlap

---
 base/main.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/base/main.cc b/base/main.cc
index 852a47c..3098a69 100644
--- a/base/main.cc
+++ b/base/main.cc
@@ -216,6 +216,7 @@ int main()
                                 if (rn->ccost() + gn->ccost() < mc &&
                                                 IS_NEAR(rn, gn)) {
                                         gf = true;
+                                        p.goal_found(true);
                                         ron = rn;
                                         gon = gn;
                                         mc = rn->ccost() + gn->ccost();
@@ -227,7 +228,6 @@ int main()
         }
         pthread_join(rt, NULL);
         pthread_join(gt, NULL);
-        p.goal_found(gf);
         // connect trees
         while (gon != p.goal()) {
                 p.p_root_.nodes().push_back(new RRTNode(
-- 
2.39.2