Decrufting AORRTC

Author: twill777

src/ompl/geometric/planners/rrt/AORRTC.h

@@ -148,12 +148,6 @@ namespace ompl
 
             double inflationFactor_{1.};
 
-            long int maxInternalIterations{100000000};
-            long int maxIterations{100000000};
-
-            long int maxInternalSamples{10000};
-            long int maxSamples{10000};
-
             /// The instance of the path simplifier
             PathSimplifierPtr psk_;
 

src/ompl/geometric/planners/rrt/src/AOXRRTConnect.cpp

@@ -76,8 +76,6 @@ void ompl::geometric::AOXRRTConnect::setup()
             opt_ = pdef_->getOptimizationObjective();
         else
         {
-            // OMPL_INFORM("%s: No optimization objective specified. Defaulting to optimizing path length for the
-            // allowed planning time.", getName().c_str());
             opt_ = std::make_shared<base::PathLengthOptimizationObjective>(si_);
 
             // Store the new objective in the problem def'n