From 5f89278325fe6a6ab96a673b107a6fe406b1793f Mon Sep 17 00:00:00 2001 From: Ericsii Date: Wed, 6 Aug 2025 14:26:25 +0800 Subject: [PATCH 1/2] fix: Add KDTree type definition to include unsigned int for IndexType Signed-off-by: Ericsii --- nav2_route/include/nav2_route/node_spatial_tree.hpp | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/nav2_route/include/nav2_route/node_spatial_tree.hpp b/nav2_route/include/nav2_route/node_spatial_tree.hpp index 15d9e2a5528..e479053b6c1 100644 --- a/nav2_route/include/nav2_route/node_spatial_tree.hpp +++ b/nav2_route/include/nav2_route/node_spatial_tree.hpp @@ -55,7 +55,9 @@ struct GraphAdaptor }; typedef nanoflann::KDTreeSingleIndexAdaptor< - nanoflann::L2_Simple_Adaptor, GraphAdaptor, DIMENSION> kd_tree_t; + nanoflann::L2_Simple_Adaptor, GraphAdaptor, DIMENSION, + unsigned int> + kd_tree_t; /** * @class nav2_route::NodeSpatialTree From 2dd3cb65474fdf004a9688c27aba6011b6c26b63 Mon Sep 17 00:00:00 2001 From: Ericsii Date: Wed, 6 Aug 2025 14:49:57 +0800 Subject: [PATCH 2/2] code format Signed-off-by: Ericsii --- nav2_route/include/nav2_route/node_spatial_tree.hpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/nav2_route/include/nav2_route/node_spatial_tree.hpp b/nav2_route/include/nav2_route/node_spatial_tree.hpp index e479053b6c1..744d30791c7 100644 --- a/nav2_route/include/nav2_route/node_spatial_tree.hpp +++ b/nav2_route/include/nav2_route/node_spatial_tree.hpp @@ -57,7 +57,7 @@ struct GraphAdaptor typedef nanoflann::KDTreeSingleIndexAdaptor< nanoflann::L2_Simple_Adaptor, GraphAdaptor, DIMENSION, unsigned int> - kd_tree_t; + kd_tree_t; /** * @class nav2_route::NodeSpatialTree