Remove corner case limit

diff --git a/ut/rrts.t.cc b/ut/rrts.t.cc
index 038f1c9ca2b12587962fe2150aaca3d1749a7604..3cdcdc9d000824aeec3d87832b42df519197cefd 100644 (file)
--- a/ut/rrts.t.cc
+++ b/ut/rrts.t.cc
@@ -72,8 +72,6 @@ WVTEST_MAIN("goal found zone")
         tmp_double_2 = std::abs(g.mtr() * 2 * sin(-M_PI/2 / 2));
         WVPASSEQ_DOUBLE(tmp_double_1, tmp_double_2, 0.00001);
         WVPASS(p.goal_found(n)); // pass right corner case
-        n.rotate(g.ccr().x(), g.ccr().y(), -0.01);
-        WVPASS(!p.goal_found(n)); // fail right corner case
 
         n = RRTNode(g);
         n.rotate(g.ccl().x(), g.ccl().y(), M_PI/2);
@@ -90,9 +88,6 @@ WVTEST_MAIN("goal found zone")
         n.st(0);
         n.next();
         WVPASS(p.goal_found(n)); // pass forward corner case
-        n.sp(0.01);
-        n.next();
-        WVPASS(!p.goal_found(n)); // fail forward corner case
 
         for (double a = 0; a > -M_PI/2; a -= 0.01) {
                 n = RRTNode(g);
@@ -143,9 +138,6 @@ WVTEST_MAIN("goal found zone")
         n.st(0);
         n.next();
         WVPASS(p.goal_found(n)); // pass backward corner case
-        n.sp(-0.01);
-        n.next();
-        WVPASS(!p.goal_found(n)); // fail backward corner case
 
         n = RRTNode(g);
         n.rotate(g.ccr().x(), g.ccr().y(), M_PI/2);
@@ -154,8 +146,6 @@ WVTEST_MAIN("goal found zone")
         tmp_double_2 = std::abs(g.mtr() * 2 * sin(-M_PI/2 / 2));
         WVPASSEQ_DOUBLE(tmp_double_1, tmp_double_2, 0.00001);
         WVPASS(p.goal_found(n)); // pass right corner case
-        n.rotate(g.ccr().x(), g.ccr().y(), 0.01);
-        WVPASS(!p.goal_found(n)); // fail right corner case
 
         n = RRTNode(g);
         n.rotate(g.ccl().x(), g.ccl().y(), -M_PI/2);
@@ -164,8 +154,6 @@ WVTEST_MAIN("goal found zone")
         tmp_double_2 = std::abs(g.mtr() * 2 * sin(M_PI/2 / 2));
         WVPASSEQ_DOUBLE(tmp_double_1, tmp_double_2, 0.00001);
         WVPASS(p.goal_found(n)); // pass left corner case
-        n.rotate(g.ccl().x(), g.ccl().y(), -0.01);
-        WVPASS(!p.goal_found(n)); // fail left corner case
 
         for (double a = 0; a < M_PI / 2; a += 0.01) {
                 n = RRTNode(g);