Fix Double PathFinder #1483
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Fix Double PathFinder #1483
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jturner65
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Sep 15, 2021
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The only time this will fail is if Sim::reconfigure is called with the same SimulatorConfiguration a it already has. If close was called before this, the Pathfinder will have been destroyed, but this short circuit will bypass the code to recreate it.
Otherwise, the Pathfinder is always recreated as part of reconfigure
Probably, the Pathfinder init should be moved to be before the configuration similarity check, conditional on it being nullptr, like we do with sceneManager_
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Close also resets the config to its default value so that'll be pretty edge-casey, but yeah, I will do the same thing as |
Skylion007
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Sep 15, 2021
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Motivation and Context
Due to legacy reasons, we create a pathfinder object in the python sim after the cpp sim has been initialized. This means that the navmesh loaded via the scene dataset get's unloaded!
How Has This Been Tested
Via tests. We have a lot of tests that require the navmesh to be loaded correctly and I do not see python saying it loaded the navmesh, so cpp must be doing it correctly!
Types of changes