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Corrected reinitialization in nav2_smac_planner::HybridMotionTable #2680

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Merged
SteveMacenski merged 1 commit into from
Nov 17, 2021
Merged

Corrected reinitialization in nav2_smac_planner::HybridMotionTable #2680

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1 change: 1 addition & 0 deletions nav2_smac_planner/include/nav2_smac_planner/node_hybrid.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -115,6 +115,7 @@ struct HybridMotionTable
*/
MotionPoses getProjections(const NodeHybrid * node);

MotionModel motion_model = MotionModel::UNKNOWN;
MotionPoses projections;
unsigned int size_x;
unsigned int num_angle_quantization;
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17 changes: 8 additions & 9 deletions nav2_smac_planner/src/node_hybrid.cpp
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Expand Up @@ -66,14 +66,16 @@ void HybridMotionTable::initDubin(

// if nothing changed, no need to re-compute primitives
if (num_angle_quantization_in == num_angle_quantization &&
min_turning_radius == search_info.minimum_turning_radius)
min_turning_radius == search_info.minimum_turning_radius &&
motion_model == MotionModel::DUBIN)
{
return;
}

num_angle_quantization = num_angle_quantization_in;
num_angle_quantization_float = static_cast<float>(num_angle_quantization);
min_turning_radius = search_info.minimum_turning_radius;
motion_model = MotionModel::DUBIN;

// angle must meet 3 requirements:
// 1) be increment of quantized bin size
Expand Down Expand Up @@ -115,9 +117,7 @@ void HybridMotionTable::initDubin(
projections.emplace_back(delta_x, -delta_y, -increments); // Right

// Create the correct OMPL state space
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if (!state_space) {
state_space = std::make_unique<ompl::base::DubinsStateSpace>(min_turning_radius);
}
state_space = std::make_unique<ompl::base::DubinsStateSpace>(min_turning_radius);

// Precompute projection deltas
delta_xs.resize(projections.size());
Expand Down Expand Up @@ -158,14 +158,16 @@ void HybridMotionTable::initReedsShepp(

// if nothing changed, no need to re-compute primitives
if (num_angle_quantization_in == num_angle_quantization &&
min_turning_radius == search_info.minimum_turning_radius)
min_turning_radius == search_info.minimum_turning_radius &&
motion_model == MotionModel::REEDS_SHEPP)
{
return;
}

num_angle_quantization = num_angle_quantization_in;
num_angle_quantization_float = static_cast<float>(num_angle_quantization);
min_turning_radius = search_info.minimum_turning_radius;
motion_model = MotionModel::REEDS_SHEPP;

float angle = 2.0 * asin(sqrt(2.0) / (2 * min_turning_radius));
bin_size =
Expand All @@ -191,10 +193,7 @@ void HybridMotionTable::initReedsShepp(
projections.emplace_back(-delta_x, -delta_y, increments); // Backward + Right

// Create the correct OMPL state space
if (!state_space) {
state_space = std::make_unique<ompl::base::ReedsSheppStateSpace>(
min_turning_radius);
}
state_space = std::make_unique<ompl::base::ReedsSheppStateSpace>(min_turning_radius);

// Precompute projection deltas
delta_xs.resize(projections.size());
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