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fix- Hybrid smac planner plans in collision in case of unknown cost #2854

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merged 1 commit into from
Mar 21, 2022
Merged

fix- Hybrid smac planner plans in collision in case of unknown cost #2854

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10 changes: 5 additions & 5 deletions nav2_costmap_2d/src/footprint_collision_checker.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -94,13 +94,13 @@ double FootprintCollisionChecker<CostmapT>::lineCost(int x0, int x1, int y0, int
for (nav2_util::LineIterator line(x0, y0, x1, y1); line.isValid(); line.advance()) {
point_cost = pointCost(line.getX(), line.getY()); // Score the current point

if (line_cost < point_cost) {
line_cost = point_cost;
// if in collision, no need to continue
if (point_cost == static_cast<double>(LETHAL_OBSTACLE)) {
return point_cost;
}

// if in collision, no need to continue
if (line_cost == static_cast<double>(LETHAL_OBSTACLE)) {
return line_cost;
if (line_cost < point_cost) {
line_cost = point_cost;
}
}

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