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Revert a parameter in grid_based_sweep_coverage_path_planner to correct (#917)

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the planning results
This commit is contained in:
Yuki Onishi
2023-10-15 10:25:22 +09:00
committed by GitHub
parent 6a76596440
commit 2c4d745077
1 changed files with 3 additions and 3 deletions
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6
PathPlanning/GridBasedSweepCPP/grid_based_sweep_coverage_path_planner.py
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@@ -50,7 +50,7 @@ class SweepSearcher:
# moving backward
next_c_x_index = -self.moving_direction + c_x_index
next_c_y_index = c_y_index
if self.check_occupied(next_c_x_index, next_c_y_index, grid_map):
if self.check_occupied(next_c_x_index, next_c_y_index, grid_map, FloatGrid(1.0)):
# moved backward, but the grid is occupied by obstacle
return None, None
else:
@@ -61,8 +61,8 @@ class SweepSearcher:
return next_c_x_index, next_c_y_index
@staticmethod
def check_occupied(c_x_index, c_y_index, grid_map):
return grid_map.check_occupied_from_xy_index(c_x_index, c_y_index, FloatGrid(0.5))
def check_occupied(c_x_index, c_y_index, grid_map, occupied_val=FloatGrid(0.5)):
return grid_map.check_occupied_from_xy_index(c_x_index, c_y_index, occupied_val)
def find_safe_turning_grid(self, c_x_index, c_y_index, grid_map):