From ce1fa0fbf52cf8c845e4305f414ec2720df5adea Mon Sep 17 00:00:00 2001
From: kyberszittya <kyberszittya@protonmail.ch>
Date: Mon, 3 Jun 2019 08:29:24 +0200
Subject: [PATCH] Fixing queue length checking

---
 .../lidar_to_grid_map/lidar_to_grid_map.py    |  2 +-
 .../lidar_to_grid_map_tutorial.ipynb          | 29 +++++++++----------
 2 files changed, 15 insertions(+), 16 deletions(-)

diff --git a/Mapping/lidar_to_grid_map/lidar_to_grid_map.py b/Mapping/lidar_to_grid_map/lidar_to_grid_map.py
index 29040d77..60bf4db6 100644
--- a/Mapping/lidar_to_grid_map/lidar_to_grid_map.py
+++ b/Mapping/lidar_to_grid_map/lidar_to_grid_map.py
@@ -126,7 +126,7 @@ def flood_fill(cpoint, pmap):
     sx, sy = pmap.shape
     fringe = deque()
     fringe.appendleft(cpoint)
-    while len(fringe)>0:
+    while fringe:
         n = fringe.pop()
         nx, ny = n
         # West
diff --git a/Mapping/lidar_to_grid_map/lidar_to_grid_map_tutorial.ipynb b/Mapping/lidar_to_grid_map/lidar_to_grid_map_tutorial.ipynb
index b9058ff5..9e8a00f0 100644
--- a/Mapping/lidar_to_grid_map/lidar_to_grid_map_tutorial.ipynb
+++ b/Mapping/lidar_to_grid_map/lidar_to_grid_map_tutorial.ipynb
@@ -18,7 +18,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 2,
+   "execution_count": 1,
    "metadata": {},
    "outputs": [],
    "source": [
@@ -37,7 +37,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 3,
+   "execution_count": 2,
    "metadata": {},
    "outputs": [],
    "source": [
@@ -66,7 +66,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 4,
+   "execution_count": 3,
    "metadata": {},
    "outputs": [
     {
@@ -104,7 +104,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 35,
+   "execution_count": 4,
    "metadata": {},
    "outputs": [
     {
@@ -133,7 +133,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 36,
+   "execution_count": 5,
    "metadata": {},
    "outputs": [
     {
@@ -170,7 +170,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 37,
+   "execution_count": 6,
    "metadata": {},
    "outputs": [],
    "source": [
@@ -184,7 +184,7 @@
     "    sx, sy = pmap.shape\n",
     "    fringe = deque()\n",
     "    fringe.appendleft(cpoint)\n",
-    "    while len(fringe)>0:\n",
+    "    while fringe:\n",
     "        n = fringe.pop()\n",
     "        nx, ny = n\n",
     "        # West\n",
@@ -218,7 +218,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 38,
+   "execution_count": 7,
    "metadata": {},
    "outputs": [
     {
@@ -243,23 +243,22 @@
    ]
   },
   {
-   "cell_type": "code",
-   "execution_count": null,
+   "cell_type": "markdown",
    "metadata": {},
-   "outputs": [],
-   "source": []
+   "source": [
+    "Let's use this flood fill on real data:"
+   ]
   },
   {
    "cell_type": "code",
-   "execution_count": 39,
+   "execution_count": 8,
    "metadata": {},
    "outputs": [
     {
      "name": "stdout",
      "output_type": "stream",
      "text": [
-      "The grid map is  150 x 100 .\n",
-      "150 100\n"
+      "The grid map is  150 x 100 .\n"
      ]
     },
     {