C++ (Cpp) TreeData::clearの例

コード例 #1

ファイル: TRRTConnect.cpp プロジェクト: iocroblab/kautham

void ompl::geometric::TRRTConnect::clearTree(TreeData &tree) {
    if (tree) tree->clear();
    //Clear TRRTConnect specific variables
    tree.numStatesFailed_ = 0;
    tree.temp_ = initTemperature_;
    tree.nonFrontierCount_ = 0;
    tree.frontierCount_ = 0;
    tree.costs_.clear();
    tree.sortedCostIndices_.clear();
    //If opt_ is of type FOSOptimizationObjective, there is a global zero-order box and
    //then this parameter will be used and initially set to false
    //If opt is of another type, this parameter is set to true to avoid its use
    tree.stateInBoxZos_ = !dynamic_cast<ompl::base::FOSOptimizationObjective*>(opt_.get());
}