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Remove start clear (ros-navigation#4418)
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SteveMacenski authored and Marc-Morcos committed Jul 4, 2024
1 parent f192a30 commit 4d3200d
Showing 1 changed file with 0 additions and 14 deletions.
14 changes: 0 additions & 14 deletions nav2_smac_planner/src/a_star.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -510,20 +510,6 @@ unsigned int & AStarAlgorithm<NodeT>::getSizeDim3()
return _dim3_size;
}

template<>
void AStarAlgorithm<Node2D>::clearStart()
{
auto coords = Node2D::getCoords(_start->getIndex());
_costmap->setCost(coords.x, coords.y, nav2_costmap_2d::FREE_SPACE);
}

template<typename NodeT>
void AStarAlgorithm<NodeT>::clearStart()
{
auto coords = NodeT::getCoords(_start->getIndex(), _costmap->getSizeInCellsX(), getSizeDim3());
_costmap->setCost(coords.x, coords.y, nav2_costmap_2d::FREE_SPACE);
}

// Instantiate algorithm for the supported template types
template class AStarAlgorithm<Node2D>;
template class AStarAlgorithm<NodeHybrid>;
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