From 4b6b4491999b48625dfa9fcd18586f3ca81c7258 Mon Sep 17 00:00:00 2001
From: Jiri Vlasak <hubacji1@fel.cvut.cz>
Date: Sun, 28 Jul 2019 21:52:51 +0200
Subject: [PATCH] Add vectors static allocation

---
 src/rrts.cc | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/src/rrts.cc b/src/rrts.cc
index 8472ea1..7ee7585 100644
--- 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
 }
 
-- 
2.39.2