modify astar for standalone running

Takumi Ito · Takumi Ito · commit 0461798029e2 · 2024-07-04T09:25:03.000+09:00
move clearNoe() from setMap to makePlan().

Signed-off-by: Takumi Ito &lt;takumi.ito@tier4.jp&gt;
diff --git a/planning/autoware_freespace_planning_algorithms/src/astar_search.cpp b/planning/autoware_freespace_planning_algorithms/src/astar_search.cpp
@@ -130,9 +130,7 @@ AstarSearch::AstarSearch(
 void AstarSearch::setMap(const nav_msgs::msg::OccupancyGrid & costmap)
 {
   AbstractPlanningAlgorithm::setMap(costmap);
-
-  clearNodes();
-
+  
   x_scale_ = costmap_.info.height;
   graph_.reserve(100000);
 }
@@ -143,6 +141,8 @@ bool AstarSearch::makePlan(
   start_pose_ = global2local(costmap_, start_pose);
   goal_pose_ = global2local(costmap_, goal_pose);
 
+  clearNodes();
+
   if (!setStartNode()) {
     return false;
   }

Original file line number	Diff line number	Diff line change
`@@ -130,9 +130,7 @@ AstarSearch::AstarSearch(`
`130`	`130`	`void AstarSearch::setMap(const nav_msgs::msg::OccupancyGrid & costmap)`
`131`	`131`	`{`
`132`	`132`	`AbstractPlanningAlgorithm::setMap(costmap);`
`133`		`-`
`134`		`- clearNodes();`
`135`		`-`
	`133`	`+`
`136`	`134`	`x_scale_ = costmap_.info.height;`
`137`	`135`	`graph_.reserve(100000);`
`138`	`136`	`}`
`@@ -143,6 +141,8 @@ bool AstarSearch::makePlan(`
`143`	`141`	`start_pose_ = global2local(costmap_, start_pose);`
`144`	`142`	`goal_pose_ = global2local(costmap_, goal_pose);`
`145`	`143`
	`144`	`+ clearNodes();`
	`145`	`+`
`146`	`146`	`if (!setStartNode()) {`
`147`	`147`	`return false;`
`148`	`148`	`}`