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Improved global plan cropping when passing it to critics #9

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Improved global plan cropping when passing it to critics #9

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26 changes: 23 additions & 3 deletions dwb_local_planner/src/dwb_local_planner.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -397,11 +397,31 @@ nav_2d_msgs::Path2D DWBLocalPlanner::transformGlobalPlan(const nav_2d_msgs::Pose
nav_2d_msgs::Pose2DStamped stamped_pose;
stamped_pose.header.frame_id = global_plan_.header.frame_id;

for (unsigned int i = 0; i < global_plan_.poses.size(); i++)
{
unsigned int begin_within = 0;
unsigned int closest_idx = 0;
double min_dist = getSquareDistance(robot_pose.pose, global_plan_.poses[0]);

for (unsigned int i = 1; i < global_plan_.poses.size(); ++i) {
double dist = getSquareDistance(robot_pose.pose, global_plan_.poses[i]);
if (dist < min_dist){
min_dist = dist;
closest_idx = i;
}//if
}//for

for (unsigned int i = closest_idx; i >= 0 && i < global_plan_.poses.size(); --i) {
double dist = getSquareDistance(robot_pose.pose, global_plan_.poses[i]);
if (dist > sq_dist_threshold){
begin_within = i;
break;
}//if
}//for

for (unsigned int i = begin_within; i < global_plan_.poses.size(); ++i) {
bool should_break = false;
if (getSquareDistance(robot_pose.pose, global_plan_.poses[i]) > sq_dist_threshold)
{

if (transformed_plan.poses.size() == 0)
{
// we need to skip to a point on the plan that is within a certain distance of the robot
Expand All @@ -412,7 +432,7 @@ nav_2d_msgs::Path2D DWBLocalPlanner::transformGlobalPlan(const nav_2d_msgs::Pose
// we're done transforming points
should_break = true;
}
}
}//for

// now we'll transform until points are outside of our distance threshold
stamped_pose.pose = global_plan_.poses[i];
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