{
}
+void RRTS::reset()
+{
+ RRTNode init = RRTNode();
+ init.x(this->nodes().front().x());
+ init.y(this->nodes().front().y());
+ init.h(this->nodes().front().h());
+ this->nodes().clear();
+ this->store_node(RRTNode());
+ this->nodes().front().x(init.x());
+ this->nodes().front().y(init.y());
+ this->nodes().front().h(init.h());
+ this->samples().clear();
+ this->steered().clear();
+ this->log_opt_time_.clear();
+ this->path().clear();
+ this->gf(false);
+ for (auto& g: this->goals()) {
+ g.p(nullptr);
+ g.c_ = 0.0;
+ g.cc = 0.0;
+ }
+}
+
void RRTS::deinit()
{
this->nodes().clear();