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acki
2025-05-29 17:28:15 -04:00
parent 638077ee74
commit eb4b81b37d
1 changed files with 5 additions and 5 deletions
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10
src/modelec_strat/src/pathfinding.cpp
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@@ -291,12 +291,12 @@ namespace Modelec
}
// 3. Convert start and goal (avec inversion Y)
const double start_x = start->x / cell_size_mm_x;
const double start_y = (grid_height_ - 1) - (start->y / cell_size_mm_y);
const double goal_x = goal->x / cell_size_mm_x;
const double goal_y = (grid_height_ - 1) - (goal->y / cell_size_mm_y);
const int start_x = start->x / cell_size_mm_x;
const int start_y = (grid_height_ - 1) - (start->y / cell_size_mm_y);
const int goal_x = goal->x / cell_size_mm_x;
const int goal_y = (grid_height_ - 1) - (goal->y / cell_size_mm_y);
RCLCPP_INFO(node_->get_logger(), "Start: (%f, %f), Goal: (%f, %f)", start_x, start_y, goal_x, goal_y);
RCLCPP_INFO(node_->get_logger(), "Start: (%d, %d), Goal: (%d, %d)", start_x, start_y, goal_x, goal_y);
if (start_x < 0 || start_y < 0 || goal_x < 0 || goal_y < 0 ||
start_x >= grid_width_ || start_y >= grid_height_ ||