chore(freespace_planning_algorithm): modify A* script for standalone …

…running (autowarefoundation#7070) * modify astar for standalone running move clearNoe() from setMap to makePlan(). Signed-off-by: Takumi Ito <[email protected]> * small modification Signed-off-by: Takumi Ito <[email protected]> * run pre-commit Signed-off-by: Takumi Ito <[email protected]> --------- Signed-off-by: Takumi Ito <[email protected]> Co-authored-by: Takumi Ito <[email protected]>
go-sakayori · Jul 4, 2024 · cd16a80 · cd16a80
1 parent dabf104
commit cd16a80
Showing 1 changed file with 3 additions and 3 deletions.
diff --git a/planning/autoware_freespace_planning_algorithms/src/astar_search.cpp b/planning/autoware_freespace_planning_algorithms/src/astar_search.cpp
@@ -131,10 +131,7 @@ void AstarSearch::setMap(const nav_msgs::msg::OccupancyGrid & costmap)
 {
   AbstractPlanningAlgorithm::setMap(costmap);
 
-  clearNodes();
-
   x_scale_ = costmap_.info.height;
-  graph_.reserve(100000);
 }
 
 bool AstarSearch::makePlan(
@@ -143,6 +140,9 @@ bool AstarSearch::makePlan(
   start_pose_ = global2local(costmap_, start_pose);
   goal_pose_ = global2local(costmap_, goal_pose);
 
+  clearNodes();
+  graph_.reserve(100000);
+
   if (!setStartNode()) {
     return false;
   }