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accepting plan of only 1 node

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Mathieu Labbe
2015-02-06 16:44:38 -05:00
parent 695b7005d0
commit cff869ad03
1 changed files with 2 additions and 2 deletions
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4
corelib/src/Rtabmap.cpp
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@@ -2327,10 +2327,10 @@ bool Rtabmap::computePath(
UINFO("Computing path from location %d to %d", currentNode, targetNode); UINFO("Computing path from location %d to %d", currentNode, targetNode);
_path = rtabmap::graph::computePath(nodes, links, currentNode, targetNode); _path = rtabmap::graph::computePath(nodes, links, currentNode, targetNode);
if(_path.size()<2) if(_path.size() == 0)
{ {
_path.clear(); _path.clear();
UWARN("Cannot compute a path (or goal is already reached)!"); UWARN("Cannot compute a path!");
} }
else else
{ {