X-Git-Url: https://rtime.felk.cvut.cz/gitweb/hubacji1/iamcar2.git/blobdiff_plain/b3b6439b1666c8be96c268c977c258e49639c121..b282229be03a242d09a7c0c6315a823aa1188f42:/src/template-with-reset.cc

diff --git a/src/template-with-reset.cc b/src/template-with-reset.cc
index 75a1776..3060190 100644
--- a/src/template-with-reset.cc
+++ b/src/template-with-reset.cc
@@ -75,6 +75,7 @@ int main()
 	unsigned int icnt = 0;
 	unsigned int rcnt = 0;
 	unsigned int bcnt = 0;
+	unsigned int ncnt = 0; // not better counter
 	Json::Value best_path;
 	Json::Value pj;
 	double cost = 0.0;
@@ -87,11 +88,19 @@ int main()
 			double gc = pj["goal_cc"].asDouble();
 			assert(gc > 0.0);
 			if (cost == 0.0 || gc < cost) {
+				if (gc < 0.75 * cost) {
+					ncnt = 0;
+				}
 				best_path = pj["path"];
 				cost = gc;
 				bcnt += 1;
+			} else {
+				ncnt++;
 			}
 		}
+		if (ncnt > 5) {
+			break;
+		}
 		p.reset();
 		rcnt += 1;
 	}