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Removed unused variables
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6 changed files with 8 additions and 12 deletions
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@ -127,13 +127,12 @@ MotionPlanner::shortest_path(const Point &from, const Point &to)
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// Now check whether points are inside the environment.
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Point inner_from = from;
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Point inner_to = to;
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bool from_is_inside, to_is_inside;
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if (!(from_is_inside = env.contains(from))) {
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if (!env.contains(from)) {
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// Find the closest inner point to start from.
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inner_from = this->nearest_env_point(env, from, to);
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}
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if (!(to_is_inside = env.contains(to))) {
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if (!env.contains(to)) {
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// Find the closest inner point to start from.
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inner_to = this->nearest_env_point(env, to, inner_from);
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}
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