Fixed bug in PRM #114
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Fixed bug in PRM #114
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In the step of the PRM when the road map is created, the new vertice is added to the graph, and then the graph is investigated to find all vertices within a certain distance from the new vertice. This function will then also return the newly added vertice. As a result the set of edges will include edges of length zero from each vertice to itself. Later this becomes an issue when querying the road map: The returned path is certainly not optimal, as it should be, since the algorithm used is A*.
The pull request fixes this bug, by simply getting the closest vertices BEFORE adding the new vertice to the graph.