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Fixed bug in PRM #114

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Fixed bug in PRM #114

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6 changes: 3 additions & 3 deletions PRM.m
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Original file line number Diff line number Diff line change
Expand Up @@ -339,12 +339,12 @@ function create_roadmap(prm, opt)
end
new = [x; y];

% add it to the graph
vnew = prm.graph.add_node(new);

% find the closest node already in the graph
[d,v] = prm.graph.distances(new);

% add it to the graph
vnew = prm.graph.add_node(new);

% test neighbours in order of increasing distance and check for a clear
% path
for i=1:length(d)
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