One way to implement this is to store the timestamp of when we last decreased the distance to goal. If that timestamp is older than some threshold, then abort the goal.
Another way: we could also store the shortest distance we have been to the goal, and if we go over some threshold from that we abort that goal.
One way to implement this is to store the timestamp of when we last decreased the distance to goal. If that timestamp is older than some threshold, then abort the goal.
Another way: we could also store the shortest distance we have been to the goal, and if we go over some threshold from that we abort that goal.
I am not sure which way makes more sense.
This may also solve #37 at the same time.