[kinetic] Fix for adjusting plan resolution #819
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aaronhoy
reviewed
Jan 14, 2019
base_local_planner/src/map_grid.cpp
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| for (unsigned int i = 1; i < global_plan_in.size(); ++i) { | ||
| double loop_x = global_plan_in[i].pose.position.x; | ||
| double loop_y = global_plan_in[i].pose.position.y; | ||
| double sqdist = (loop_x - last_x) * (loop_x - last_x) + (loop_y - last_y) * (loop_y - last_y); | ||
| if (sqdist > min_sq_resolution) { | ||
| int steps = ((sqrt(sqdist) - sqrt(min_sq_resolution)) / resolution) - 1; | ||
| int steps = ceil((sqrt(sqdist) - sqrt(min_sq_resolution)) / resolution) + 1; |
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This took me a bit to parse. Since sqrt(min_sq_resolution) == resolution, can't this expression be reduced to just:
ceil(sqrt(sqdist) / resolution)
??
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You're totally right. Good call.
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Build failure seems unrelated, but I can't figure out what is causing it. Any guesses @mikeferguson ? |
DLu
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Jan 24, 2019
* Fix for adjusting plan resolution * Simpler math expression
DLu
added a commit
that referenced
this pull request
Jan 24, 2019
* Fix for adjusting plan resolution * Simpler math expression
DLu
added a commit
that referenced
this pull request
Jan 24, 2019
* Fix for adjusting plan resolution * Simpler math expression
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Should this also go into lunar/melodic ? |
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Also done. |
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Possible fix for #817
This does change the behavior such that one of the existing tests no longer works. However, I disagree with the results of that test, and it had some suspect parts anyway (i.e. checking the same x coordinate twice each, as opposed to x and y)