applied upstream boost 1.71 fix as patch until they release a new version

1 files changed, 19 insertions, 0 deletions

diff --git a/boost-fix.patch b/boost-fix.patch
new file mode 100644
index 000000000000..82f8830158cb
--- /dev/null
+++ b/boost-fix.patch
@@ -0,0 +1,19 @@
+--- src/ompl-1.4.1/demos/PlannerData.cpp	2018-12-05 14:01:03.000000000 -0600
++++ ./PlannerData.cpp	2019-10-13 12:42:20.129520443 -0500
+@@ -170,13 +170,15 @@
+         ob::GoalState goal(si);
+         goal.setState(data.getGoalVertex(0).getState());
+         ob::PlannerData::Graph::Vertex start = boost::vertex(data.getStartIndex(0), graph);
++        boost::astar_visitor<boost::null_visitor> dummy_visitor;
+         boost::astar_search(graph, start,
+             [&goal, &opt, &vertices](ob::PlannerData::Graph::Vertex v1) { return distanceHeuristic(v1, &goal, &opt, vertices); },
+             boost::predecessor_map(prev).
+             distance_compare([&opt](ob::Cost c1, ob::Cost c2) { return opt.isCostBetterThan(c1, c2); }).
+             distance_combine([&opt](ob::Cost c1, ob::Cost c2) { return opt.combineCosts(c1, c2); }).
+             distance_inf(opt.infiniteCost()).
+-            distance_zero(opt.identityCost()));
++            distance_zero(opt.identityCost()).
++            visitor(dummy_visitor));
+ 
+         // Extracting the path
+         og::PathGeometric path(si);