Commit 5226ae5a authored by Florent Lamiraux's avatar Florent Lamiraux
Browse files

Protect access to roadmap by semaphores.

parent 8c28b562
......@@ -349,6 +349,7 @@ namespace hpp {
// Add direct path to roadmap if not already included
CkwsRoadmapShPtr roadmap = roadmapBuilder()->roadmap();
roadmap->beginCriticalSectionReadWrite();
hppDout(info, "Number of edges in roadmap before inserting nodes = "
<< roadmap->countEdges());
......@@ -390,6 +391,7 @@ namespace hpp {
"Number edges in roadmap after attempt at adding edge = "
<< roadmap->countEdges());
}
roadmap->endCriticalSectionReadWrite();
inOutPath->appendDirectPath(directPath);
// Add the path to vector of paths of the problem.
addPath(KIT_DYNAMIC_PTR_CAST(CkwsPath, inOutPath->clone()));
......
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