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gradient_path: the gradx_ and grady_ can be negative, so we check the… #1207

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gradient_path: the gradx_ and grady_ can be negative, so we check the… #1207

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0884b35
gradient_path: the gradx_ and grady_ can be negative, so we check the…
tyuownu Jul 6, 2022
da35260
navfn: see commit 0884b35
tyuownu Jul 6, 2022
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2 changes: 1 addition & 1 deletion global_planner/src/gradient_path.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -264,7 +264,7 @@ bool GradientPath::getPath(float* potential, double start_x, double start_y, dou
// calculate gradient at a cell
// positive value are to the right and down
float GradientPath::gradCell(float* potential, int n) {
if (gradx_[n] + grady_[n] > 0.0) // check this cell
if (fabs(gradx_[n]) + fabs(grady_[n]) > 0.0) // check this cell
return 1.0;

if (n < xs_ || n > xs_ * ys_ - xs_) // would be out of bounds
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2 changes: 1 addition & 1 deletion navfn/src/navfn.cpp
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Expand Up @@ -954,7 +954,7 @@ namespace navfn {
float
NavFn::gradCell(int n)
{
if (gradx[n]+grady[n] > 0.0) // check this cell
if (fabs(gradx[n])+fabs(grady[n]) > 0.0) // check this cell
return 1.0;

if (n < nx || n > ns-nx) // would be out of bounds
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