Skip to content

Fix max path cycles for case where map has larger Y dimension than X dimension #2017

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

Merged
SteveMacenski merged 3 commits into from
Oct 6, 2020
Merged

Fix max path cycles for case where map has larger Y dimension than X dimension #2017

Changes from 2 commits
Commits
Show all changes
3 commits
Select commit Hold shift + click to select a range
535d787
Fix max path cycles for case where map has larger Y dimension than X …
Oct 6, 2020
999b2ce
Improve readability
Oct 6, 2020
932d278
fix ament_cpplint and ament_uncrustify issues
Oct 6, 2020
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
4 changes: 3 additions & 1 deletion nav2_navfn_planner/src/navfn_planner.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -320,7 +320,9 @@ NavfnPlanner::getPlanFromPotential(

planner_->setStart(map_goal);

int path_len = planner_->calcPath(costmap_->getSizeInCellsX() * 4);
const int& max_cycles = (costmap_->getSizeInCellsX() >= costmap_->getSizeInCellsY()) ? (costmap_->getSizeInCellsX() * 4) : (costmap_->getSizeInCellsY() * 4);
Comment thread
justinIRBT marked this conversation as resolved.
Outdated

int path_len = planner_->calcPath(max_cycles);
if (path_len == 0) {
return false;
}
Expand Down