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Nav2 smac planner bug fix #5197

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Nav2 smac planner bug fix #5197

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2 changes: 1 addition & 1 deletion nav2_smac_planner/include/nav2_smac_planner/analytic_expansion.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -119,7 +119,7 @@ class AnalyticExpansion
* @return The score of the refined path
*/
float refineAnalyticPath(
const NodePtr & current_node,
NodePtr & node,
const NodePtr & goal_node,
const NodeGetter & getter,
AnalyticExpansionNodes & analytic_nodes);
Expand Down
20 changes: 12 additions & 8 deletions nav2_smac_planner/src/analytic_expansion.cpp
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Expand Up @@ -66,6 +66,7 @@ typename AnalyticExpansion<NodeT>::NodePtr AnalyticExpansion<NodeT>::tryAnalytic

AnalyticExpansionNodes current_best_analytic_nodes = {};
NodePtr current_best_goal = nullptr;
NodePtr current_best_node = nullptr;
float current_best_score = std::numeric_limits<float>::max();

closest_distance = std::min(
Expand Down Expand Up @@ -97,13 +98,15 @@ typename AnalyticExpansion<NodeT>::NodePtr AnalyticExpansion<NodeT>::tryAnalytic
current_node->motion_table.state_space);
if (!analytic_nodes.empty()) {
found_valid_expansion = true;
bool score = refineAnalyticPath(
current_node, current_goal_node, getter, analytic_nodes);
NodePtr node = current_node;
float score = refineAnalyticPath(
node, current_goal_node, getter, analytic_nodes);
// Update the best score if we found a better path
if (score < current_best_score) {
current_best_analytic_nodes = analytic_nodes;
current_best_goal = current_goal_node;
current_best_score = score;
current_best_node = node;
}
}
}
Expand All @@ -116,13 +119,15 @@ typename AnalyticExpansion<NodeT>::NodePtr AnalyticExpansion<NodeT>::tryAnalytic
current_node, current_goal_node, getter,
current_node->motion_table.state_space);
if (!analytic_nodes.empty()) {
bool score = refineAnalyticPath(
current_node, current_goal_node, getter, analytic_nodes);
NodePtr node = current_node;
float score = refineAnalyticPath(
node, current_goal_node, getter, analytic_nodes);
// Update the best score if we found a better path
if (score < current_best_score) {
current_best_analytic_nodes = analytic_nodes;
current_best_goal = current_goal_node;
current_best_score = score;
current_best_node = node;
}
}
}
Expand All @@ -131,7 +136,7 @@ typename AnalyticExpansion<NodeT>::NodePtr AnalyticExpansion<NodeT>::tryAnalytic

if (!current_best_analytic_nodes.empty()) {
return setAnalyticPath(
current_node, current_best_goal,
current_best_node, current_best_goal,
current_best_analytic_nodes);
}
analytic_iterations--;
Expand Down Expand Up @@ -273,12 +278,11 @@ typename AnalyticExpansion<NodeT>::AnalyticExpansionNodes AnalyticExpansion<Node

template<typename NodeT>
float AnalyticExpansion<NodeT>::refineAnalyticPath(
const NodePtr & current_node,
NodePtr & node,
const NodePtr & goal_node,
const NodeGetter & getter,
AnalyticExpansionNodes & analytic_nodes)
{
NodePtr node = current_node;
NodePtr test_node = node;
AnalyticExpansionNodes refined_analytic_nodes;
for (int i = 0; i < 8; i++) {
Expand Down Expand Up @@ -407,7 +411,7 @@ getAnalyticPath(

template<>
float AnalyticExpansion<Node2D>::refineAnalyticPath(
const NodePtr &,
NodePtr &,
const NodePtr &,
const NodeGetter &,
AnalyticExpansionNodes &)
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4 changes: 3 additions & 1 deletion nav2_smac_planner/test/test_a_star.cpp
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Expand Up @@ -141,7 +141,9 @@ TEST(AStarTest, test_a_star_2d)
int dummy_int2 = 0;
EXPECT_EQ(expander.tryAnalyticExpansion(nullptr, {}, {}, {},
nullptr, dummy_int1, dummy_int2), nullptr);
EXPECT_EQ(expander.refineAnalyticPath(nullptr, nullptr, nullptr,

nav2_smac_planner::Node2D* start = nullptr;
EXPECT_EQ(expander.refineAnalyticPath(start, nullptr, nullptr,
analytic_expansion_nodes), std::numeric_limits<float>::max());
nav2_smac_planner::AnalyticExpansion<nav2_smac_planner::Node2D>::AnalyticExpansionNodes
expected_nodes = expander.getAnalyticPath(nullptr, nullptr, nullptr, nullptr);
Expand Down
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