Remove precision workaround, fe iter limit to 100

diff --git a/src/psp.cc b/src/psp.cc
index 3063ff769b5145b338b9c51f8c575171a810d942..e2c6ee1585cf903bab80be200b5870ceb2aaf0f6 100644 (file)
--- a/src/psp.cc
+++ b/src/psp.cc
@@ -96,7 +96,6 @@ void PSPlanner::guess_gc()
         if (this->ps().right())
                 dts = - M_PI / 2;
         if (this->ps().parallel()) {
-                dts *= 0.99; // precision workaround
                 x += (this->gc().w() / 2 + 0.01) * cos(h + dts);
                 x += (this->gc().dr() + 0.01) * cos(h);
                 y += (this->gc().w() / 2 + 0.01) * sin(h + dts);
@@ -337,7 +336,7 @@ void PSPlanner::fe_parallel()
         }
         // BFS - find entry current car `cc` and corresponding goal car `gc`
         unsigned int iter_cntr = 0;
-        while (!q.empty() && iter_cntr < 9) {
+        while (!q.empty() && iter_cntr < 100) {
                 this->cc() = BicycleCar(q.front());
                 q.pop();
                 while (