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Fixing Theta* test failures #3380

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merged 4 commits into from
Jan 21, 2023
Merged

Fixing Theta* test failures #3380

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21f9d98
adding printouts since can't see locally
SteveMacenski Jan 20, 2023
a3e87ea
one more to isolate
SteveMacenski Jan 21, 2023
2a4ecbb
request in bounds
SteveMacenski Jan 21, 2023
6ed5f6a
remove prints
SteveMacenski Jan 21, 2023
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3 changes: 1 addition & 2 deletions nav2_theta_star_planner/test/test_theta_star.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -95,7 +95,6 @@ TEST(ThetaStarTest, test_theta_star) {
planner_->setStartAndGoal(start, goal);
EXPECT_TRUE(planner_->src_.x == s.x && planner_->src_.y == s.y);
EXPECT_TRUE(planner_->dst_.x == g.x && planner_->dst_.y == g.y);

/// Check if the initializePosn function works properly
planner_->uinitializePosn(size_x * size_y);
EXPECT_EQ(planner_->getSizeOfNodePosition(), (size_x * size_y));
Expand All @@ -121,7 +120,7 @@ TEST(ThetaStarTest, test_theta_star) {
EXPECT_FALSE(planner_->isSafe(10, 10)); // cost at this point is 253 (>LETHAL_COST)

/// Check if the functions addIndex & getIndex work properly
coordsM c = {20, 30};
coordsM c = {18, 18};
planner_->uaddToNodesData(0);
planner_->uaddIndex(c.x, c.y);
tree_node * c_node = planner_->ugetIndex(c.x, c.y);
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