Skip to content

Smac planner bad alloc #2516

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
merged 2 commits into from
Aug 17, 2021
Merged

Smac planner bad alloc #2516

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
6c6b0d6
test(nav2_smac_planner): show short path bad_alloc
Aposhian Aug 17, 2021
d2aa041
fix(nav2_smac_planner): fixed bad_alloc
Aposhian Aug 17, 2021
File filter

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
4 changes: 3 additions & 1 deletion nav2_smac_planner/src/a_star.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -557,7 +557,9 @@ typename AStarAlgorithm<NodeT>::AnalyticExpansionNodes AStarAlgorithm<NodeT>::ge
unsigned int num_intervals = std::floor(d / sqrt_2);

AnalyticExpansionNodes possible_nodes;
possible_nodes.reserve(num_intervals - 1); // We won't store this node or the goal
// When "from" and "to" are zero or one cell away,
// num_intervals == 0
possible_nodes.reserve(num_intervals); // We won't store this node or the goal
std::vector<double> reals;

// Pre-allocate
Expand Down
41 changes: 41 additions & 0 deletions nav2_smac_planner/test/test_a_star.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -164,6 +164,47 @@ TEST(AStarTest, test_a_star_se2)
delete costmapA;
}

TEST(AStarTest, test_se2_single_pose_path)
{
nav2_smac_planner::SearchInfo info;
info.change_penalty = 0.1;
info.non_straight_penalty = 1.1;
info.reverse_penalty = 2.0;
info.minimum_turning_radius = 8; // in grid coordinates
unsigned int size_theta = 72;
info.cost_penalty = 1.7;
nav2_smac_planner::AStarAlgorithm<nav2_smac_planner::NodeHybrid> a_star(
nav2_smac_planner::MotionModel::DUBIN, info);
int max_iterations = 100;
float tolerance = 10.0;
int it_on_approach = 10;
int num_it = 0;

a_star.initialize(false, max_iterations, it_on_approach, 401, size_theta);

nav2_costmap_2d::Costmap2D * costmapA =
new nav2_costmap_2d::Costmap2D(100, 100, 0.1, 0.0, 0.0, 0);

std::unique_ptr<nav2_smac_planner::GridCollisionChecker> checker =
std::make_unique<nav2_smac_planner::GridCollisionChecker>(costmapA, size_theta);
checker->setFootprint(nav2_costmap_2d::Footprint(), true, 0.0);

// functional case testing
a_star.setCollisionChecker(checker.get());
a_star.setStart(10u, 10u, 0u);
// Goal is one costmap cell away
a_star.setGoal(11u, 10u, 0u);
nav2_smac_planner::NodeHybrid::CoordinateVector path;
EXPECT_TRUE(a_star.createPath(path, num_it, tolerance));

// Check that the path is length one
// With the current implementation, this produces a longer path
// EXPECT_EQ(path.size(), 1u);
EXPECT_GE(path.size(), 1u);

delete costmapA;
}

TEST(AStarTest, test_constants)
{
nav2_smac_planner::MotionModel mm = nav2_smac_planner::MotionModel::UNKNOWN; // unknown
Expand Down