From cd16a80941491084b01fb0dec558312f9472f404 Mon Sep 17 00:00:00 2001 From: TakumIto <61740530+TakumIto@users.noreply.github.com> Date: Thu, 4 Jul 2024 14:38:05 +0900 Subject: [PATCH] chore(freespace_planning_algorithm): modify A* script for standalone running (#7070) * modify astar for standalone running move clearNoe() from setMap to makePlan(). Signed-off-by: Takumi Ito * small modification Signed-off-by: Takumi Ito * run pre-commit Signed-off-by: Takumi Ito --------- Signed-off-by: Takumi Ito Co-authored-by: Takumi Ito --- .../src/astar_search.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/planning/autoware_freespace_planning_algorithms/src/astar_search.cpp b/planning/autoware_freespace_planning_algorithms/src/astar_search.cpp index 6b04ca87bfb7d..1902b7aa2d091 100644 --- 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; }