Add ext4 deinit

diff --git a/api/rrtce.h b/api/rrtce.h
index a94a69e7c63e9de92655ce5620b53d6f5870822d..291d566ab9956d2a46bca97ab5ccdc6468712edb 100644 (file)
--- a/api/rrtce.h
+++ b/api/rrtce.h
@@ -21,6 +21,11 @@ class RRTCE4 : public RRTExt1, public RRTExt2, public RRTExt4 {
                         RRTExt2::init();
                         RRTExt4::init();
                 }
+                void deinit()
+                {
+                        RRTExt2::deinit();
+                        RRTExt4::deinit();
+                }
 };
 class RRTCE5 : public RRTExt2, public RRTExt5, public RRTExt4 {
         public:
@@ -29,6 +34,11 @@ class RRTCE5 : public RRTExt2, public RRTExt5, public RRTExt4 {
                         RRTExt2::init();
                         RRTExt4::init();
                 }
+                void deinit()
+                {
+                        RRTExt2::deinit();
+                        RRTExt4::deinit();
+                }
 };
 class RRTCE6 : public RRTExt2, public RRTExt6, public RRTExt4 {
         public:
@@ -37,6 +47,11 @@ class RRTCE6 : public RRTExt2, public RRTExt6, public RRTExt4 {
                         RRTExt2::init();
                         RRTExt4::init();
                 }
+                void deinit()
+                {
+                        RRTExt2::deinit();
+                        RRTExt4::deinit();
+                }
 };
 class RRTCE7
         : public RRTExt2
@@ -50,6 +65,11 @@ class RRTCE7
                         RRTExt2::init();
                         RRTExt4::init();
                 }
+                void deinit()
+                {
+                        RRTExt2::deinit();
+                        RRTExt4::deinit();
+                }
 };
 
 #endif /* RRTCE_H */

diff --git a/api/rrtext.h b/api/rrtext.h
index 5cfb866b5a1c1787099eb3972c67c1e3ea7cd730..cbefb000530d60f77fc91e8c9dc2b307c512b26c 100644 (file)
--- a/api/rrtext.h
+++ b/api/rrtext.h
@@ -70,6 +70,7 @@ class RRTExt4 : public virtual RRTS {
                 unsigned int yi(RRTNode n);
         public:
                 void init();
+                void deinit();
                 void store_node(RRTNode n);
                 RRTNode *nn(RRTNode &t);
                 std::vector<RRTNode *> nv(RRTNode &t);

diff --git a/src/rrtext4.cc b/src/rrtext4.cc
index e9667cc672fe6258ec06f5af4a89ea021913498f..7abfa34673891ef5bbc517c6c9c023f285a7ea53 100644 (file)
--- a/src/rrtext4.cc
+++ b/src/rrtext4.cc
@@ -48,6 +48,13 @@ void RRTExt4::init()
         this->y_max_ = this->nodes().back().y() + 50 * ETA;
 }
 
+void RRTExt4::deinit()
+{
+        for (unsigned int i = 0; i < 100; i++)
+                for (unsigned int j = 0; j < 100; j++)
+                        this->grid_[i][j].nodes().clear();
+}
+
 void RRTExt4::store_node(RRTNode n)
 {
         RRTS::store_node(n);