From: Jiri Vlasak <hubacji1@fel.cvut.cz>
Date: Fri, 8 Nov 2019 16:58:35 +0000 (+0100)
Subject: Add deinit methods
X-Git-Tag: v0.3.0~4^2~4
X-Git-Url: https://rtime.felk.cvut.cz/gitweb/hubacji1/rrts.git/commitdiff_plain/6dc4d91fc57fa0c7cbeb1687356d04978aa928ba

Add deinit methods

This will be used when reset of planner is needed.
---

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 8506220..7579874 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -18,6 +18,7 @@ The format is based on [Keep a Changelog][] and this project adheres to
 - Compound extensions.
 - JSON output.
 - Should continue method.
+- Deinit method -- get ready for planner reset.
 
 [cute c2]: https://github.com/RandyGaul/cute_headers/blob/master/cute_c2.h
 
diff --git a/src/rrtext2.cc b/src/rrtext2.cc
index e90f3eb..38b1905 100644
--- a/src/rrtext2.cc
+++ b/src/rrtext2.cc
@@ -35,6 +35,8 @@ void RRTExt2::init()
 
 void RRTExt2::deinit()
 {
+        this->c2_obstacles().clear();
+        RRTS::deinit();
 }
 
 std::tuple<bool, unsigned int, unsigned int>
diff --git a/src/rrts.cc b/src/rrts.cc
index 024952a..18dbcca 100644
--- a/src/rrts.cc
+++ b/src/rrts.cc
@@ -260,6 +260,14 @@ void RRTS::init()
 
 void RRTS::deinit()
 {
+        this->nodes().clear();
+        this->samples().clear();
+        this->steered().clear();
+        this->store_node(RRTNode()); // root
+        this->icnt_ = 0;
+        this->scnt_ = 0;
+        this->pcnt_ = 0;
+        this->gf_ = false;
 }
 
 std::vector<RRTNode *> RRTS::path()