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acki
2025-05-29 17:23:42 -04:00
parent 86b299e3c3
commit 031fa82a0f
1 changed files with 5 additions and 5 deletions
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10
src/modelec_strat/src/pathfinding.cpp
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@@ -291,17 +291,17 @@ namespace Modelec
} }
// 3. Convert start and goal (avec inversion Y) // 3. Convert start and goal (avec inversion Y)
const int start_x = start->x / cell_size_mm_x; const double start_x = start->x / cell_size_mm_x;
const int start_y = (grid_height_ - 1) - (start->y / cell_size_mm_y); const double start_y = (grid_height_ - 1) - (start->y / cell_size_mm_y);
const int goal_x = goal->x / cell_size_mm_x; const double goal_x = goal->x / cell_size_mm_x;
const int goal_y = (grid_height_ - 1) - (goal->y / cell_size_mm_y); const double goal_y = (grid_height_ - 1) - (goal->y / cell_size_mm_y);
if (start_x < 0 || start_y < 0 || goal_x < 0 || goal_y < 0 || if (start_x < 0 || start_y < 0 || goal_x < 0 || goal_y < 0 ||
start_x >= grid_width_ || start_y >= grid_height_ || start_x >= grid_width_ || start_y >= grid_height_ ||
goal_x >= grid_width_ || goal_y >= grid_height_) goal_x >= grid_width_ || goal_y >= grid_height_)
{ {
RCLCPP_WARN(node_->get_logger(), "Start or Goal out of bounds"); RCLCPP_WARN(node_->get_logger(), "Start or Goal out of bounds");
RCLCPP_WARN(node_->get_logger(), "Start: (%d, %d), Goal: (%d, %d)", start_x, start_y, goal_x, goal_y); RCLCPP_WARN(node_->get_logger(), "Start: (%f, %f), Goal: (%f, %f)", start_x, start_y, goal_x, goal_y);
return {-2, waypoints}; return {-2, waypoints};
} }