Method reset

swarm_exploration/path_searching/src/astar.cpp:208–221

}

void Astar::reset() {
  expanded_nodes_.clear();
  path_nodes_.clear();

  std::priority_queue<NodePtr, std::vector<NodePtr>, NodeComparator0> empty_queue;
  open_set_.swap(empty_queue);
  for (int i = 0; i < use_node_num_; i++) {
    NodePtr node = path_node_pool_[i];
    node->parent = NULL;
    node->node_state = NOT_EXPAND;
  }
  use_node_num_ = 0;
  iter_num_ = 0;
}

std::vector<Eigen::Vector3d> Astar::getVisited() {
  vector<Eigen::Vector3d> visited;