Add vectors static allocation

diff --git a/src/rrts.cc b/src/rrts.cc
index 8472ea108fc139a3c1c7b914b26068a314ea6996..7ee7585022eaf59e1496129a22da5aed85900b48 100644 (file)
--- a/src/rrts.cc
+++ b/src/rrts.cc
@@ -149,6 +149,10 @@ void RRTS::set_sample(
 RRTS::RRTS()
         : gen_(std::random_device{}())
 {
+        this->goals().reserve(1);
+        this->nodes().reserve(20000);
+        this->samples().reserve(1000);
+        this->steered().reserve(20);
         this->nodes().push_back(RRTNode()); // root
 }