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--- 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);
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