From: Jiri Vlasak <jiri.vlasak.2@cvut.cz>
Date: Fri, 27 Aug 2021 09:34:49 +0000 (+0200)
Subject: Revert 100e888
X-Git-Tag: v0.9.0~5^2~8
X-Git-Url: https://rtime.felk.cvut.cz/gitweb/hubacji1/rrts.git/commitdiff_plain/3abebdd60b34b7b473e5751134542023ce28cbc2

Revert 100e888

It would be necessary to recompute all cc of all the child node, which
is impossible by the architecture. (RRTNode knows about its parent
only.)
---

diff --git a/src/rrts.cc b/src/rrts.cc
index f96cef4..029997e 100644
--- a/src/rrts.cc
+++ b/src/rrts.cc
@@ -328,16 +328,6 @@ RRTS::next()
 		ss--;
 		just_added = just_added->p();
 	}
-#if 1 // test if root -> just_added can be steered directly
-	this->steer(this->nodes_.front(), *just_added);
-	ss = this->steered_.size();
-	if (!this->collide_steered() && this->steered_.size() == ss) {
-		this->join_steered(&this->nodes_.front());
-		just_added->p(this->nodes_.back());
-		just_added->c(this->cost_build(this->nodes_.back(),
-			*just_added));
-	}
-#endif
 	if (gf) {
 		this->compute_path();
 	}