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[Smac2d] Accept path of length 1 #2495

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Aug 9, 2021
Merged

[Smac2d] Accept path of length 1 #2495

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4 changes: 2 additions & 2 deletions nav2_smac_planner/src/a_star.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -329,7 +329,7 @@ bool AStarAlgorithm<Node2D>::backtracePath(NodePtr node, CoordinateVector & path
current_node = current_node->parent;
}

return path.size() > 1;
return path.size() > 0;
}

template<typename NodeT>
Expand All @@ -346,7 +346,7 @@ bool AStarAlgorithm<NodeT>::backtracePath(NodePtr node, CoordinateVector & path)
current_node = current_node->parent;
}

return path.size() > 1;
return path.size() > 0;
}

template<typename NodeT>
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