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[Smac] check if a node exists before creating #3195

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Merged
SteveMacenski merged 3 commits into from
Sep 16, 2022
Merged

[Smac] check if a node exists before creating #3195

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fe32085
check if a node exists before creating
SteveMacenski Sep 15, 2022
4d4aa17
invert logic to group like with like
SteveMacenski Sep 15, 2022
4c68db0
Update a_star.cpp
SteveMacenski Sep 15, 2022
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7 changes: 5 additions & 2 deletions nav2_smac_planner/src/a_star.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -117,8 +117,11 @@ template<typename NodeT>
typename AStarAlgorithm<NodeT>::NodePtr AStarAlgorithm<NodeT>::addToGraph(
const unsigned int & index)
{
// Emplace will only create a new object if it doesn't already exist.
// If an element exists, it will return the existing object, not create a new one.
auto iter = _graph.find(index);
if (iter != _graph.end()) {
return &(iter->second);
}

return &(_graph.emplace(index, NodeT(index)).first->second);
}

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