eaburns/search — pull request #36 by dylanoceallaigh (2014-09-11 19:26:04+00:00)
Title: Update rtastar.hpp

Heuristic store in primary search loop was incorrect. Was storing f(s') as h(s'); now storing f(s'') as h(s).
Removed line in bestkids which prevented backtracking (caused algorithm to be incomplete).
Removed table update in heuristic function (not mentioned in the original RTA* text).