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planner_3d: fix cost calculation bug on in-place turning #725

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merged 4 commits into from
Oct 31, 2023
Merged

planner_3d: fix cost calculation bug on in-place turning #725

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7544f1c
planner_3d: fix a bug in the cost calculation
nhatao Oct 27, 2023
450e4ae
Add test
nhatao Oct 30, 2023
2604942
Add more test
nhatao Oct 30, 2023
9b1f07c
Fix variable names
nhatao Oct 30, 2023
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14 changes: 9 additions & 5 deletions planner_cspace/src/grid_astar_model_3dof.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -155,6 +155,10 @@ float GridAstarModel3D::euclidCostRough(const Vec& v) const
float GridAstarModel3D::cost(
const Vec& cur, const Vec& next, const std::vector<VecWithCost>& start, const Vec& goal) const
{
if ((cm_[cur] > 99) || (cm_[next] > 99))
{
return -1;
}
Vec d_raw = next - cur;
d_raw.cycle(map_info_.angle);
const Vec d = d_raw;
Expand All @@ -168,18 +172,18 @@ float GridAstarModel3D::cost(
Vec pos = cur;
for (int i = 0; i < std::abs(d[2]); i++)
{
pos[2] += dir;
if (pos[2] < 0)
pos[2] += map_info_.angle;
else if (pos[2] >= static_cast<int>(map_info_.angle))
pos[2] -= map_info_.angle;
const auto c = cm_[pos];
if (c > 99)
return -1;
if (c >= cc_.turn_penalty_cost_threshold_)
{
sum += c;
}
pos[2] += dir;
if (pos[2] < 0)
pos[2] += map_info_.angle;
else if (pos[2] >= static_cast<int>(map_info_.angle))
pos[2] -= map_info_.angle;
}
const float turn_cost_ratio = cc_.weight_costmap_turn_ / 100.0;
const float turn_heuristic_cost_ratio =
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