From 802b4fe9bfc4f3e75b28cebf3ce5013b436a5362 Mon Sep 17 00:00:00 2001
From: Jiri Vlasak <hubacji1@fel.cvut.cz>
Date: Tue, 30 Jun 2020 12:24:38 +0200
Subject: [PATCH] Remove inefficient code

---
 src/psp.cc | 10 ----------
 1 file changed, 10 deletions(-)

diff --git a/src/psp.cc b/src/psp.cc
index 9f5ea8d..31d4a74 100644
--- 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());
-- 
2.39.2