Empty q before return

diff --git a/decision_control/slotplanner.cc b/decision_control/slotplanner.cc
index a81fd1e2eb5c217096212e8c5288a4540c129e64..cafa65109d105dada62e91287f4a0770917bb325 100644 (file)
--- a/decision_control/slotplanner.cc
+++ b/decision_control/slotplanner.cc
@@ -99,6 +99,7 @@ void ParallelSlot::fip()
         // see https://courses.cs.washington.edu/courses/cse326/03su/homework/hw3/bfs.html
         // RRTNode.s() works as iteration level
         std::queue<BicycleCar *, std::list<BicycleCar *>> q;
+        std::queue<BicycleCar *, std::list<BicycleCar *>> empty;
 
         // TODO add init nodes
         // for now just copy fpose()
@@ -161,6 +162,7 @@ void ParallelSlot::fip()
                         delete c; // not in q and collide
                 }
         }
+        std::swap(q, empty);
         return;
 createcuspandfinish:
         std::vector<RRTNode *> cusp;
@@ -170,7 +172,6 @@ createcuspandfinish:
         }
         std::reverse(cusp.begin(), cusp.end());
         this->cusp().push_back(cusp);
-        std::queue<BicycleCar *, std::list<BicycleCar *>> empty;
         std::swap(q, empty);
 }