Remove inefficient code

diff --git a/src/psp.cc b/src/psp.cc
index 9f5ea8df41ee6e43ee29a4eafb8275df04c44fd2..31d4a741dd17b23f877ca52a33874e164d1dbc86 100644 (file)
--- a/src/psp.cc
+++ b/src/psp.cc
@@ -346,16 +346,6 @@ void PSPlanner::fe_parallel()
         while (!q.empty() && iter_cntr < 30) {
                 this->cc() = BicycleCar(q.front());
                 q.pop();
-                while (
-                        !this->collide()
-                        && (std::abs(
-                                this->cc().h() - this->ps().heading()
-                        ) > M_PI / 32)
-                        && (std::abs(
-                                this->cc().h() - this->ps().heading()
-                        ) < M_PI / 2)
-                )
-                        this->cc().next();
                 this->cc().sp(this->cc().sp() * -1);
                 this->cc().next();
                 this->gc() = BicycleCar(this->cc());