[ompl-users] Is this the right way to write virtual void clear(void) function for implementing a new planner

[daniel c. <dan...@gm...>]

Hi,

I am implementing a new planner and my Graph structure is like this

typedef boost::adjacency_list <
            boost::vecS, boost::vecS, boost::undirectedS,
            boost::property < vertex_state_1_t, base::State*,
            boost::property < vertex_state_2_t, Eigen::Matrix3d,
            boost::property < vertex_state_3_t, std::vector<base::State* >
> >,
            boost::property < boost::edge_weight_t, double,
            boost::property < boost::edge_index_t, unsigned int > >
> Graph;

typedef boost::graph_traits<Graph>::vertex_descriptor Vertex;
boost::property_map<Graph, vertex_state_1_t>::type
state1Property_;
boost::property_map<Graph, vertex_state_3_t>::type
state3Property_;


void ompl::geometric::MyPlanner::freeMemory(void)
{
    foreach (Vertex v, boost::vertices(g_))
        {
           si_full->freeState(state1Property_[v]);
           for(unsigned int i=0; i<state3Property_[v].size(); i++)
               si_arm->freeState(state3Property_[v][i]);
        }
    g_.clear();
}

void ompl::geometric::MyPlanner::clear(void)
{
    Planner::clear();
    freeMemory();
    if (nn_)
        nn_->clear();
}

When I run my planner then it crash, I don't know why. Is unallocating a
graph property which has a property like std::vector<ompl::base::State*> is
correct ?? (please see my freeMemory() function). Please let me know if I
am doing anything wrong.

Thanks,
Daniel