From: Jiri Vlasak <hubacji1@fel.cvut.cz>
Date: Thu, 9 Jan 2020 15:20:24 +0000 (+0100)
Subject: Remove precision workaround, fe iter limit to 100
X-Git-Tag: v0.3.0~1^2~11
X-Git-Url: https://rtime.felk.cvut.cz/gitweb/hubacji1/psp.git/commitdiff_plain/592d3b9f811d639da07b683be54338904e97eb8d

Remove precision workaround, fe iter limit to 100
---

diff --git a/src/psp.cc b/src/psp.cc
index 3063ff7..e2c6ee1 100644
--- 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 (