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Change deprecated ceres function #3158

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Merged
AlexeyMerzlyakov merged 2 commits into from
Aug 30, 2022
Merged

Change deprecated ceres function #3158

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08cfb5b
Change deprecated function
Tobias-Fischer Aug 30, 2022
6924a5f
Update smoother_cost_function.hpp
Tobias-Fischer Aug 30, 2022
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2 changes: 1 addition & 1 deletion nav2_constrained_smoother/include/nav2_constrained_smoother/smoother_cost_function.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -159,7 +159,7 @@ class SmootherCostFunction
Eigen::Matrix<T, 2, 1> center = arcCenter(
pt_prev, pt, pt_next,
next_to_last_length_ratio_ < 0);
if (ceres::IsInfinite(center[0])) {
if (ceres::isinf(center[0])) {
return;
}
T turning_rad = (pt - center).norm();
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2 changes: 1 addition & 1 deletion nav2_constrained_smoother/include/nav2_constrained_smoother/utils.hpp
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Expand Up @@ -86,7 +86,7 @@ inline Eigen::Matrix<T, 2, 1> tangentDir(
bool is_cusp)
{
Eigen::Matrix<T, 2, 1> center = arcCenter(pt_prev, pt, pt_next, is_cusp);
if (ceres::IsInfinite(center[0])) { // straight line
if (ceres::isinf(center[0])) { // straight line
Eigen::Matrix<T, 2, 1> d1 = pt - pt_prev;
Eigen::Matrix<T, 2, 1> d2 = pt_next - pt;

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