fix memory issue by pruning the grid (SteveMacenski#274)

siferati · web-flow · commit 6ade4fe41645 · 2023-08-08T13:17:47.000-07:00
diff --git a/src/spatio_temporal_voxel_grid.cpp b/src/spatio_temporal_voxel_grid.cpp
@@ -218,6 +218,9 @@ void SpatioTemporalVoxelGrid::TemporalClearAndGenerateCostmap(
       PopulateCostmapAndPointcloud(pt_index);
     }
   }
+
+  // free memory taken by expired voxels
+  _grid->pruneGrid();
 }
 
 /*****************************************************************************/

Original file line number	Diff line number	Diff line change
`@@ -218,6 +218,9 @@ void SpatioTemporalVoxelGrid::TemporalClearAndGenerateCostmap(`
`218`	`218`	`PopulateCostmapAndPointcloud(pt_index);`
`219`	`219`	`}`
`220`	`220`	`}`
	`221`	`+`
	`222`	`+ // free memory taken by expired voxels`
	`223`	`+ _grid->pruneGrid();`
`221`	`224`	`}`
`222`	`225`
`223`	`226`	`/*****************************************************************************/`