- while( ia != ib )
- {
- ia = this->m_FrontPaths[ ia ][ ib ];
- fpath.push_back( ia );
-
- } // elihw
-
- // Continue only if both fronts are connected
- unsigned int N = fpath.size( );
- if( N > 0 )
- {
- // First path: from start vertex to first collision
- path = this->GetPath(
- a, this->m_Collisions[ fpath[ 0 ] ][ fpath[ 1 ] ].first
- );