From: Jiri Vlasak <hubacji1@fel.cvut.cz>
Date: Thu, 17 Jan 2019 09:51:01 +0000 (+0100)
Subject: Stop when nodes().size() overflow
X-Git-Tag: v0.5.0~3^2~4
X-Git-Url: https://rtime.felk.cvut.cz/gitweb/hubacji1/iamcar.git/commitdiff_plain/3687612ab68117cc6d7903231a6d59bcb09ab6e9

Stop when nodes().size() overflow
---

diff --git a/base/main.cc b/base/main.cc
index 1442d4a..b364173 100644
--- a/base/main.cc
+++ b/base/main.cc
@@ -197,7 +197,9 @@ int main()
         p.p_goal_.tstart();
         pthread_create(&rt, NULL, &next_run, (void *) &ra);
         pthread_create(&gt, NULL, &next_run, (void *) &ga);
-        while (!gf && p.elapsed() < TMAX) {
+        while (!gf && p.elapsed() < TMAX &&
+                        p.p_root_.nodes().size() < NOFNODES &&
+                        p.p_goal_.nodes().size() < NOFNODES) {
                 // overlap trees
                 for (int i = 0; i < IXSIZE; i++) {
                 for (int j = 0; j < IYSIZE; j++) {
diff --git a/base/rrtbase.cc b/base/rrtbase.cc
index 0cabc23..6e0cc4c 100644
--- a/base/rrtbase.cc
+++ b/base/rrtbase.cc
@@ -87,7 +87,7 @@ RRTBase::RRTBase():
         root_(new RRTNode()),
         goal_(new RRTNode())
 {
-        this->nodes_.reserve(20000);
+        this->nodes_.reserve(NOFNODES);
         this->nodes_.push_back(this->root_);
         this->add_iy(this->root_);
         this->add_ixy(this->root_);
@@ -97,7 +97,7 @@ RRTBase::RRTBase(RRTNode *init, RRTNode *goal):
         root_(init),
         goal_(goal)
 {
-        this->nodes_.reserve(20000);
+        this->nodes_.reserve(NOFNODES);
         this->nodes_.push_back(init);
         this->add_iy(init);
         this->add_ixy(init);
diff --git a/incl/rrtbase.h b/incl/rrtbase.h
index 2799d84..7a5c932 100644
--- a/incl/rrtbase.h
+++ b/incl/rrtbase.h
@@ -26,6 +26,8 @@ along with I am car. If not, see <http://www.gnu.org/licenses/>.
 #include "rrtnode.h"
 #include "sample.h"
 
+#define NOFNODES 20000
+
 #define IXSIZE 100
 #define IXSTEP (1.0 * ((VMAX) - (VMIN)) / IXSIZE)
 #define IXI(x) ({ __typeof__ (x) _x = (x); \