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Added cast to float to getClosestAngularBin return for behavior consistency #4123

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merged 2 commits into from
Feb 20, 2024
Merged

Added cast to float to getClosestAngularBin return for behavior consistency #4123

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5ed8176
Added cast to float to getClosestAngularBin return for behavior consi…
hsong-MLE Feb 15, 2024
f21b70f
Revised test name
hsong-MLE Feb 20, 2024
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2 changes: 1 addition & 1 deletion nav2_smac_planner/src/node_hybrid.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -332,7 +332,7 @@ MotionPoses HybridMotionTable::getProjections(const NodeHybrid * node)

unsigned int HybridMotionTable::getClosestAngularBin(const double & theta)
{
return static_cast<unsigned int>(floor(theta / bin_size));
return static_cast<unsigned int>(floor(static_cast<float>(theta) / bin_size));
}

float HybridMotionTable::getAngleFromBin(const unsigned int & bin_idx)
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30 changes: 30 additions & 0 deletions nav2_smac_planner/test/test_nodehybrid.cpp
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Expand Up @@ -374,3 +374,33 @@ TEST(NodeHybridTest, test_node_reeds_neighbors)
// should be empty since totally invalid
EXPECT_EQ(neighbors.size(), 0u);
}

TEST(NodeHybridTest, basic_get_closest_angular_bin_test)
{
// Tests to check getClosestAngularBin behavior for different input types
nav2_smac_planner::HybridMotionTable motion_table;

{
motion_table.bin_size = 3.1415926;
double test_theta = 3.1415926;
unsigned int expected_angular_bin = 1;
unsigned int calculated_angular_bin = motion_table.getClosestAngularBin(test_theta);
EXPECT_EQ(expected_angular_bin, calculated_angular_bin);
}

{
motion_table.bin_size = M_PI;
double test_theta = M_PI;
unsigned int expected_angular_bin = 1;
unsigned int calculated_angular_bin = motion_table.getClosestAngularBin(test_theta);
EXPECT_EQ(expected_angular_bin, calculated_angular_bin);
}

{
motion_table.bin_size = M_PI;
float test_theta = M_PI;
unsigned int expected_angular_bin = 1;
unsigned int calculated_angular_bin = motion_table.getClosestAngularBin(test_theta);
EXPECT_EQ(expected_angular_bin, calculated_angular_bin);
}
}