DOC TRIV: delete trailing whitespace

fmrchallenge · Apr 29, 2016 · 280135a · 280135a
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diff --git a/doc/usersguide/dubins_traffic.rst b/doc/usersguide/dubins_traffic.rst
@@ -102,10 +102,10 @@ vehicles, also known as e-agents (where ``e'' abbreviates ``environment''). ::
 
   python $FMRBENCHMARK/domains/dubins_traffic/trial-runner.py -f mydata.json $(rospack find dubins_traffic_utils)/examples/trialsconf/mc-small-4grid-agents2.json
 
-This will cause trial data to be saved to the file ``mydata.json`` in the local directory from where the above command is executed. 
+This will cause trial data to be saved to the file ``mydata.json`` in the local directory from where the above command is executed.
 
 The Gazebo server is launched without a GUI frontend, which is also known as
-running headless. 
+running headless.
 A local viewer can be launched using ::
 
   gzclient

diff --git a/domains/dubins_traffic/dubins_traffic_utils/include/roadnet.hpp b/domains/dubins_traffic/dubins_traffic_utils/include/roadnet.hpp
@@ -308,6 +308,17 @@ double RoadNetwork::get_mindist( size_t idx, double x, double y ) const
     Eigen::Vector4d road = mapped_segment( idx );
     Eigen::Vector2d pt( x, y );
     return ((road.segment<2>(0) + road.segment<2>(2))/2.0 - pt).norm();
+    // road(2) -= road(0);
+    // road(3) -= road(1);
+    // pt -= road.segment<2>(0);
+    // if (road.segment<2>(2).dot( pt ) < 0) {
+    //     return pt.norm();
+    // } else if (pt.dot( road.segment<2>(2) - pt ) < 0) {
+    //     return (road.segment<2>(2) - pt).norm();
+    // } else {
+    //     Eigen::Vector2d unitv = road.segment<2>(2)/road.segment<2>(2).norm();
+    //     return (pt - pt.dot( unitv )*unitv).norm();
+    // }
 }
 
 std::string RoadNetwork::get_segment_str( size_t idx ) const