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Move projectState after getPointsInside #4356

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merged 2 commits into from
May 21, 2024
Merged

Move projectState after getPointsInside #4356

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829b30c
Modify test to check fix
BriceRenaudeau May 20, 2024
49f8464
Add static polygon check before simulation
BriceRenaudeau May 21, 2024
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7 changes: 6 additions & 1 deletion nav2_collision_monitor/src/polygon.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -238,7 +238,12 @@ double Polygon::getCollisionTime(
Velocity vel = velocity;

// Array of points transformed to the frame concerned with pose on each simulation step
std::vector<Point> points_transformed;
std::vector<Point> points_transformed = collision_points;

// Check static polygon
if (getPointsInside(points_transformed) >= min_points_) {
return 0.0;
}

// Robot movement simulation
for (double time = 0.0; time <= time_before_collision_; time += simulation_time_step_) {
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3 changes: 2 additions & 1 deletion nav2_collision_monitor/test/collision_monitor_node_test.cpp
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Expand Up @@ -991,7 +991,8 @@ TEST_F(Tester, testProcessApproach)
// 3. Obstacle is inside robot footprint
publishScan(0.5, curr_time);
ASSERT_TRUE(waitData(0.5, 500ms, curr_time));
publishCmdVel(0.5, 0.2, 0.0);
// Publish impossible cmd_vel to ensure robot footprint is checked
publishCmdVel(1000000000.0, 0.2, 0.0);
ASSERT_TRUE(waitCmdVel(500ms));
ASSERT_NEAR(cmd_vel_out_->linear.x, 0.0, EPSILON);
ASSERT_NEAR(cmd_vel_out_->linear.y, 0.0, EPSILON);
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