Skip to content

Added cast to float to getClosestAngularBin return for behavior consistency (backport #4123) #4125

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
merged 1 commit into from
Feb 20, 2024
Merged

Added cast to float to getClosestAngularBin return for behavior consistency (backport #4123) #4125

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
2 changes: 1 addition & 1 deletion nav2_smac_planner/src/node_hybrid.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -250,7 +250,7 @@ MotionPoses HybridMotionTable::getProjections(const NodeHybrid * node)

unsigned int HybridMotionTable::getClosestAngularBin(const double & theta)
{
return static_cast<unsigned int>(floor(theta / bin_size));
return static_cast<unsigned int>(floor(static_cast<float>(theta) / bin_size));
}

float HybridMotionTable::getAngleFromBin(const unsigned int & bin_idx)
Expand Down
30 changes: 30 additions & 0 deletions nav2_smac_planner/test/test_nodehybrid.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -304,3 +304,33 @@ TEST(NodeHybridTest, test_node_reeds_neighbors)
// should be empty since totally invalid
EXPECT_EQ(neighbors.size(), 0u);
}

TEST(NodeHybridTest, basic_get_closest_angular_bin_test)
{
// Tests to check getClosestAngularBin behavior for different input types
nav2_smac_planner::HybridMotionTable motion_table;

{
motion_table.bin_size = 3.1415926;
double test_theta = 3.1415926;
unsigned int expected_angular_bin = 1;
unsigned int calculated_angular_bin = motion_table.getClosestAngularBin(test_theta);
EXPECT_EQ(expected_angular_bin, calculated_angular_bin);
}

{
motion_table.bin_size = M_PI;
double test_theta = M_PI;
unsigned int expected_angular_bin = 1;
unsigned int calculated_angular_bin = motion_table.getClosestAngularBin(test_theta);
EXPECT_EQ(expected_angular_bin, calculated_angular_bin);
}

{
motion_table.bin_size = M_PI;
float test_theta = M_PI;
unsigned int expected_angular_bin = 1;
unsigned int calculated_angular_bin = motion_table.getClosestAngularBin(test_theta);
EXPECT_EQ(expected_angular_bin, calculated_angular_bin);
}
}