Skip to content

[ROS 2][grid_map_core] Fix point clipping f1344bd #504

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
wants to merge 2 commits into
base: rolling
Choose a base branch
from
Open

[ROS 2][grid_map_core] Fix point clipping f1344bd #504

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
3be5358
Merge branch 'fix/clip_points_to_map' into 'master'
maximilianwulf Dec 16, 2020
9be0d06
Fix cpplint and uncrustify
kjalloul-anybotics Dec 3, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
14 changes: 8 additions & 6 deletions grid_map_core/src/GridMap.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -819,12 +819,14 @@ Position GridMap::getClosestPositionInMap(const Position & position) const
const double maxY = bottomLeftCorner.y();
const double minY = bottomRightCorner.y();

// Clip to box constraints.
positionInMap.x() = std::fmin(positionInMap.x(), maxX);
positionInMap.y() = std::fmin(positionInMap.y(), maxY);

positionInMap.x() = std::fmax(positionInMap.x(), minX);
positionInMap.y() = std::fmax(positionInMap.y(), minY);
// Clip to box constraints and correct for indexing precision.
// Points on the border can lead to invalid indices because the cells represent half
// open intervals, i.e. [...).
positionInMap.x() = std::fmin(positionInMap.x(), maxX - std::numeric_limits<double>::epsilon());
positionInMap.y() = std::fmin(positionInMap.y(), maxY - std::numeric_limits<double>::epsilon());

positionInMap.x() = std::fmax(positionInMap.x(), minX + std::numeric_limits<double>::epsilon());
positionInMap.y() = std::fmax(positionInMap.y(), minY + std::numeric_limits<double>::epsilon());

return positionInMap;
}
Expand Down
202 changes: 202 additions & 0 deletions grid_map_core/test/GridMapTest.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -154,6 +154,208 @@ TEST(GridMap, ClipToMap)
EXPECT_TRUE(map.isInside(clippedPositionOutMap));
}

TEST(GridMap, ClipToMap2)
{
grid_map::GridMap map({"types"});
map.setGeometry(grid_map::Length(1.0, 1.0), 0.05, grid_map::Position(0.0, 0.0));

// Test 8 points outside of map.
/*
* A B C
* +---+
* | | X
* D| |E ^
* | | |
* +---+ Y<--+
* F G H
*
* Note: Position to index alignment is an half open interval.
* An example position of 0.5 is assigned to the upper index.
* The interval in the current example is:
* Position: [...)[0.485 ... 0.5)[0.5 ... 0.505)[...)
* Index: 8 9 10 11
*/

grid_map::Index insideIndex;
grid_map::Position outsidePosition;

// Point A
outsidePosition = grid_map::Position(1.0, 1.0);
auto closestInsidePosition = map.getClosestPositionInMap(outsidePosition);
bool isInside = map.getIndex(closestInsidePosition, insideIndex);

auto expectedPosition = grid_map::Position(0.5, 0.5);
auto expectedIndex = grid_map::Index(0, 0);

// Check position.
EXPECT_DOUBLE_EQ(expectedPosition.x(), closestInsidePosition.x());
EXPECT_DOUBLE_EQ(expectedPosition.y(), closestInsidePosition.y());

// Check index.
EXPECT_EQ(expectedIndex.x(), insideIndex.x()) << "closestInsidePosition" << closestInsidePosition;
EXPECT_EQ(expectedIndex.y(), insideIndex.y()) << "closestInsidePosition" << closestInsidePosition;

// Check if index is inside.
EXPECT_TRUE(isInside) << "position is: " << std::endl
<< closestInsidePosition << std::endl
<< " index is: " << std::endl
<< insideIndex << std::endl;

// Point B
outsidePosition = grid_map::Position(1.0, 0.0);
closestInsidePosition = map.getClosestPositionInMap(outsidePosition);
isInside = map.getIndex(closestInsidePosition, insideIndex);

expectedPosition = grid_map::Position(0.5, 0.0);
expectedIndex = grid_map::Index(0, 10);

// Check position.
EXPECT_DOUBLE_EQ(expectedPosition.x(), closestInsidePosition.x());
EXPECT_DOUBLE_EQ(expectedPosition.y(), closestInsidePosition.y());

// Check index.
EXPECT_EQ(expectedIndex.x(), insideIndex.x()) << "closestInsidePosition" << closestInsidePosition;
EXPECT_EQ(expectedIndex.y(), insideIndex.y()) << "closestInsidePosition" << closestInsidePosition;

// Check if index is inside.
EXPECT_TRUE(isInside) << "position is: " << std::endl
<< closestInsidePosition << std::endl
<< " index is: " << std::endl
<< insideIndex << std::endl;

// Point C
outsidePosition = grid_map::Position(1.0, -1.0);
closestInsidePosition = map.getClosestPositionInMap(outsidePosition);
isInside = map.getIndex(closestInsidePosition, insideIndex);

expectedPosition = grid_map::Position(0.5, -0.5);
expectedIndex = grid_map::Index(0, 19);

// Check position.
EXPECT_DOUBLE_EQ(expectedPosition.x(), closestInsidePosition.x());
EXPECT_DOUBLE_EQ(expectedPosition.y(), closestInsidePosition.y());

// Check index.
EXPECT_EQ(expectedIndex.x(), insideIndex.x()) << "closestInsidePosition" << closestInsidePosition;
EXPECT_EQ(expectedIndex.y(), insideIndex.y()) << "closestInsidePosition" << closestInsidePosition;

// Check if index is inside.
EXPECT_TRUE(isInside) << "position is: " << std::endl
<< closestInsidePosition << std::endl
<< " index is: " << std::endl
<< insideIndex << std::endl;

// Point D
outsidePosition = grid_map::Position(0.0, 1.0);
closestInsidePosition = map.getClosestPositionInMap(outsidePosition);
isInside = map.getIndex(closestInsidePosition, insideIndex);

expectedPosition = grid_map::Position(0.0, 0.5);
expectedIndex = grid_map::Index(10, 0);

// Check position.
EXPECT_DOUBLE_EQ(expectedPosition.x(), closestInsidePosition.x());
EXPECT_DOUBLE_EQ(expectedPosition.y(), closestInsidePosition.y());

// Check index.
EXPECT_EQ(expectedIndex.x(), insideIndex.x()) << "closestInsidePosition" << closestInsidePosition;
EXPECT_EQ(expectedIndex.y(), insideIndex.y()) << "closestInsidePosition" << closestInsidePosition;

// Check if index is inside.
EXPECT_TRUE(isInside) << "position is: " << std::endl
<< closestInsidePosition << std::endl
<< " index is: " << std::endl
<< insideIndex << std::endl;

// Point E
outsidePosition = grid_map::Position(0.0, -1.0);
closestInsidePosition = map.getClosestPositionInMap(outsidePosition);
isInside = map.getIndex(closestInsidePosition, insideIndex);

expectedPosition = grid_map::Position(0.0, -0.5);
expectedIndex = grid_map::Index(10, 19);

// Check position.
EXPECT_DOUBLE_EQ(expectedPosition.x(), closestInsidePosition.x());
EXPECT_DOUBLE_EQ(expectedPosition.y(), closestInsidePosition.y());

// Check index.
EXPECT_EQ(expectedIndex.x(), insideIndex.x()) << "closestInsidePosition" << closestInsidePosition;
EXPECT_EQ(expectedIndex.y(), insideIndex.y()) << "closestInsidePosition" << closestInsidePosition;

// Check if index is inside.
EXPECT_TRUE(isInside) << "position is: " << std::endl
<< closestInsidePosition << std::endl
<< " index is: " << std::endl
<< insideIndex << std::endl;

// Point F
outsidePosition = grid_map::Position(-1.0, 1.0);
closestInsidePosition = map.getClosestPositionInMap(outsidePosition);
isInside = map.getIndex(closestInsidePosition, insideIndex);

expectedPosition = grid_map::Position(-0.5, 0.5);
expectedIndex = grid_map::Index(19, 0);

// Check position.
EXPECT_DOUBLE_EQ(expectedPosition.x(), closestInsidePosition.x());
EXPECT_DOUBLE_EQ(expectedPosition.y(), closestInsidePosition.y());

// Check index.
EXPECT_EQ(expectedIndex.x(), insideIndex.x()) << "closestInsidePosition" << closestInsidePosition;
EXPECT_EQ(expectedIndex.y(), insideIndex.y()) << "closestInsidePosition" << closestInsidePosition;

// Check if index is inside.
EXPECT_TRUE(isInside) << "position is: " << std::endl
<< closestInsidePosition << std::endl
<< " index is: " << std::endl
<< insideIndex << std::endl;

// Point G
outsidePosition = grid_map::Position(-1.0, 0.0);
closestInsidePosition = map.getClosestPositionInMap(outsidePosition);
isInside = map.getIndex(closestInsidePosition, insideIndex);

expectedPosition = grid_map::Position(-0.5, 0.0);
expectedIndex = grid_map::Index(19, 10);

// Check position.
EXPECT_DOUBLE_EQ(expectedPosition.x(), closestInsidePosition.x());
EXPECT_DOUBLE_EQ(expectedPosition.y(), closestInsidePosition.y());

// Check index.
EXPECT_EQ(expectedIndex.x(), insideIndex.x()) << "closestInsidePosition" << closestInsidePosition;
EXPECT_EQ(expectedIndex.y(), insideIndex.y()) << "closestInsidePosition" << closestInsidePosition;

// Check if index is inside.
EXPECT_TRUE(isInside) << "position is: " << std::endl
<< closestInsidePosition << std::endl
<< " index is: " << std::endl
<< insideIndex << std::endl;

// Point H
outsidePosition = grid_map::Position(-1.0, -1.0);
closestInsidePosition = map.getClosestPositionInMap(outsidePosition);
isInside = map.getIndex(closestInsidePosition, insideIndex);

expectedPosition = grid_map::Position(-0.5, -0.5);
expectedIndex = grid_map::Index(19, 19);

// Check position.
EXPECT_DOUBLE_EQ(expectedPosition.x(), closestInsidePosition.x());
EXPECT_DOUBLE_EQ(expectedPosition.y(), closestInsidePosition.y());

// Check index.
EXPECT_EQ(expectedIndex.x(), insideIndex.x()) << "closestInsidePosition" << closestInsidePosition;
EXPECT_EQ(expectedIndex.y(), insideIndex.y()) << "closestInsidePosition" << closestInsidePosition;

// Check if index is inside.
EXPECT_TRUE(isInside) << "position is: " << std::endl
<< closestInsidePosition << std::endl
<< " index is: " << std::endl
<< insideIndex << std::endl;
}

TEST(AddDataFrom, ExtendMapAligned)
{
grid_map::GridMap map1, map2;
Expand Down
Loading