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Fix for different ceres isinf() API #3471

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merged 1 commit into from
Mar 14, 2023
Merged

Fix for different ceres isinf() API #3471

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4 changes: 4 additions & 0 deletions nav2_constrained_smoother/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -17,6 +17,10 @@ find_package(Ceres REQUIRED COMPONENTS SuiteSparse)

set(CMAKE_CXX_STANDARD 17)

if(${CERES_VERSION} VERSION_LESS_EQUAL 2.0.0)
add_definitions(-DUSE_OLD_CERES_API)
endif()

nav2_package()

set(library_name nav2_constrained_smoother)
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2 changes: 1 addition & 1 deletion nav2_constrained_smoother/include/nav2_constrained_smoother/smoother_cost_function.hpp
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Expand Up @@ -159,7 +159,7 @@ class SmootherCostFunction
Eigen::Matrix<T, 2, 1> center = arcCenter(
pt_prev, pt, pt_next,
next_to_last_length_ratio_ < 0);
if (ceres::isinf(center[0])) {
if (CERES_ISINF(center[0])) {
return;
}
T turning_rad = (pt - center).norm();
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12 changes: 11 additions & 1 deletion nav2_constrained_smoother/include/nav2_constrained_smoother/utils.hpp
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Expand Up @@ -20,6 +20,16 @@

#define EPSILON 0.0001

/**
* Compatibility with different ceres::isinf() and ceres::IsInfinite() API
* used in Ceres Solver 2.1.0+ and 2.0.0- versions respectively
*/
#if defined(USE_OLD_CERES_API)
#define CERES_ISINF(x) ceres::IsInfinite(x)
#else
#define CERES_ISINF(x) ceres::isinf(x)
#endif

namespace nav2_constrained_smoother
{

Expand Down Expand Up @@ -86,7 +96,7 @@ inline Eigen::Matrix<T, 2, 1> tangentDir(
bool is_cusp)
{
Eigen::Matrix<T, 2, 1> center = arcCenter(pt_prev, pt, pt_next, is_cusp);
if (ceres::isinf(center[0])) { // straight line
if (CERES_ISINF(center[0])) { // straight line
Eigen::Matrix<T, 2, 1> d1 = pt - pt_prev;
Eigen::Matrix<T, 2, 1> d2 = pt_next - pt;

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