Reseting ogoal_cc and otime is not desired as the original path is the
first path found (even with reset.)
RRTExt13::compute_path()
{
RRTS::compute_path();
+ if (this->goal_.cc() == 0.0 || this->path_.size() == 0) {
+ return;
+ }
#if 0 // TODO 0.59 should work for sc4-1-0 only.
if (this->goal_.cc() * 0.59 > this->last_goal_cc_
&& this->last_goal_cc_ != 0.0) {
{
RRTS::reset();
this->opath_.clear();
- this->ogoal_cc_ = 0.0;
- this->otime_ = 0.0;
}
} // namespace rrts