void ompl::geometric::TRRTConnect::freeTreeMemory(TreeData &tree) {
//Delete all motions, states and the nearest neighbors data structure
if (tree) {
std::vector<Motion*> motions;
tree->list(motions);
for (std::size_t i(0); i < motions.size(); ++i) {
if (motions[i]->state) si_->freeState(motions[i]->state);
delete motions[i];
}
}
}
