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Ryan Luna  committed 41d528c

Fix bug in RRT* where satisfactory solution is not returned in a timely manner

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  • Parent commits b935ee3

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Files changed (2)

File src/ompl/contrib/rrt_star/src/BallTreeRRTstar.cpp

                     }
                 }
 
+            // Make sure to check the existing solution for improvement
+            if (solution)
+                solCheck.push_back(solution);
+
             // check if we found a solution
             for (unsigned int i = 0 ; i < solCheck.size() ; ++i)
             {

File src/ompl/contrib/rrt_star/src/RRTstar.cpp

                     }
                 }
 
+            // Make sure to check the existing solution for improvement
+            if (solution)
+                solCheck.push_back(solution);
+
             // check if we found a solution
             for (unsigned int i = 0 ; i < solCheck.size() ; ++i)
             {