Put the computation of the next informed search angle in proper place

[lukey11-zz]

Dear all,

We have the computation of the next informed search angle in the function of Searching.
else if(isInformed == true) {
size_t t = SearchTime++;
argos::Real twoPi = (argos::CRadians::TWO_PI).GetValue();
argos::Real pi = (argos::CRadians::PI).GetValue();
argos::Real isd = LoopFunctions->RateOfInformedSearchDecay;
argos::Real correlation = GetExponentialDecay((2.0 * twoPi) - LoopFunctions->UninformedSearchVariation.GetValue(), t, isd);
argos::Real rand = RNG->Gaussian(correlation + LoopFunctions->UninformedSearchVariation.GetValue());
argos::CRadians rotation(GetBound(rand, -pi, pi));
argos::CRadians angle1(rotation);
argos::CRadians angle2(GetHeading());
argos::CRadians turn_angle(angle2 + angle1);
argos::CVector2 turn_vector(SearchStepSize, turn_angle);
SetIsHeadingToNest(false);

            if(IsAtTarget()) {
                SetTarget(turn_vector + GetPosition());
            }

}
However, the target is updated only the condition "IsAtTarget()" is satisfied. So, I suggest to put the computation of the turning angle into this branch. This will eliminate the unnecessary computation when this condition is not satisfied. We should have
else if(isInformed == true) {

            SetIsHeadingToNest(false);

            if(IsAtTarget()) {
                                size_t          t           = SearchTime++;
                argos::Real     twoPi       = (argos::CRadians::TWO_PI).GetValue();
                argos::Real     pi          = (argos::CRadians::PI).GetValue();
                argos::Real     isd         = LoopFunctions->RateOfInformedSearchDecay;
                argos::Real     correlation = GetExponentialDecay((2.0 * twoPi) - LoopFunctions->UninformedSearchVariation.GetValue(), t, isd);
                argos::Real     rand = RNG->Gaussian(correlation + LoopFunctions->UninformedSearchVariation.GetValue());
                argos::CRadians rotation(GetBound(rand, -pi, pi));
                argos::CRadians angle1(rotation);
                argos::CRadians angle2(GetHeading());
                argos::CRadians turn_angle(angle2 + angle1);
                argos::CVector2 turn_vector(SearchStepSize, turn_angle);
                SetTarget(turn_vector + GetPosition());
            }

}