Thread: .empty()

I am implementing a path-finding algorithm and I can't understand the following:

First of all this function is called:

Code:

int UpdateMap(unsigned int startx, unsigned int starty, unsigned int endx, unsigned int endy)
{
	PathFind<WorldSearchNode> pathfind;

	WorldSearchNode StartNode;
	StartNode.x = startx;
	StartNode.y = starty;

	WorldSearchNode EndNode;
	EndNode.x = endx;
	EndNode.y = endy;

	pathfind.SetStartandGoalStates(StartNode, EndNode);

	unsigned int xSearchState;
	unsigned int xSearchSteps = 0;

	do
	{
		xSearchState = pathfind.PathFindStep();

		xSearchSteps++;
	}
	while(xSearchState == PathFind<WorldSearchNode>::PATH_FIND_PROCESSING);

	if (xSearchState == PathFind<WorldSearchNode>::PATH_FIND_SUCCEEDED)
	{
		WorldSearchNode *Node = pathfind.GetSolutionStart();

		int steps = 0;

		Node->CopyNodeToWorld();

		for(;;)
		{
			Node = pathfind.GetSolutionNext();

			if (!Node)
			{
				break;
			}

			Node->CopyNodeToWorld();
			steps++;
		}

		pathfind.FreeSolutionNodes();
		return 1;

	}
	else if (xSearchState == PathFind<WorldSearchNode>::PATH_FIND_FAILED)
	{
		return 0;
	}

	return 0;
}

As can be seen, the first function to be called from within this function is the SetStartandGoalStates, which is here:

Code:

void SetStartandGoalStates(RobotState &Start, RobotState &Goal)
			{
				xCancelRequest = FALSE;
				
				xStart = AllocateNode();
				xGoal = AllocateNode();
				
				xStart->xRobotState = Start;
				xGoal->xRobotState = Goal;
				
				xState = PATH_FIND_PROCESSING;
				
				xStart->c = 0;
				xStart->h = xStart->xRobotState.GoalDistanceEstimate(xGoal->xRobotState);
				
				xStart->f = xStart->c + xStart->h;
				xStart->parent = 0;
				
				
				//push the start node onto the open list
				
				xOpenList.push_back(xStart);//this has made the heap unsorted
								
				//sort heap
				
				push_heap(xOpenList.begin(),xOpenList.end(),CompareHeap());

												
				//initialise path find steps counter
				xSteps = 0;
			}

Next is the FindPathStep() function, the beginning of which is here:

Code:

unsigned int PathFindStep()
			{
				assert((xState>PATH_FIND_UNINITIALISED) && (xState<PATH_FIND_INVALID)); //evaluates expression, exits program if false, continues if true.
				
				if ((xState == PATH_FIND_SUCCEEDED) || (xState == PATH_FIND_FAILED))
				{
					return xState;
				}//ensures that if PathFindStep is run after the search has succeeded, we want to return a success.
				
				//If there is nothing left to search then the OpenList will be emptied, we can use this to define failure
				
				//We also need to incorporate the event that the search has been aborted
				
				
				if (xOpenList.empty())
				{
					exit(0);
					xState = PATH_FIND_FAILED;
					FreeAllNodes();
					return xState;
				}

As can be seen I have a check at the beginning of this function to see if xOpenList.empty() returns true, ending the program if it is. And this is exactly what it is doing. I ran a similar check on xOpenList.empty() directly after push_heap(xOpenList.begin(),xOpenList.end(),Compar eHeap()); and it returned false. So why is xOpenList being emptied by the time I come to check it in FindPathStep?

Any help would be much appreciated.

And another thing, I know that assert(....) at the beginning of FindPathStep() is not aborting the program because I commented it out and it made no difference.