From 3700f0947fcf7c6350c8897f52e292c9a657b344 Mon Sep 17 00:00:00 2001
From: Kei18 <keisuke.oku18@gmail.com>
Date: Thu, 21 Jul 2022 18:03:13 +0200
Subject: [PATCH] update parent check

---
 fast_mapf/src/planner.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/fast_mapf/src/planner.cpp b/fast_mapf/src/planner.cpp
index ab1f727..c069bba 100644
--- a/fast_mapf/src/planner.cpp
+++ b/fast_mapf/src/planner.cpp
@@ -135,7 +135,7 @@ Solution Planner::solve()
     // check explored list
     auto iter = EXPLORED.find(C);
     if (iter != EXPLORED.end()) {
-      if (iter->second != S->parent) OPEN.push(iter->second);
+      OPEN.push(iter->second);
       continue;
     }