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Feat/smac planner include orientation flexibility #4127

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Merged
merged 3 commits into from
Apr 29, 2025
Merged

Feat/smac planner include orientation flexibility #4127

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6eb58a9
include functionality to allow multiple goal heading for smac planner
stevedanomodolor Apr 29, 2025
cf8d443
include missing parameter inclusion
stevedanomodolor Apr 29, 2025
47901ad
increase test coverage
stevedanomodolor Apr 29, 2025
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increase test coverage 
Signed-off-by: stevedanomodolor <stevedan.o.omodolor@gmail.com>
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stevedanomodolor committed Apr 29, 2025
commit 47901ad3d99830e2878642c2a8eb30b86c6771e2
1 change: 1 addition & 0 deletions nav2_smac_planner/test/test_smac_hybrid.cpp
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Expand Up @@ -249,6 +249,7 @@ TEST(SmacTest, test_smac_se2_reconfigure)
parameters.clear();
parameters.push_back(rclcpp::Parameter("test.coarse_search_resolution", 4));
parameters.push_back(rclcpp::Parameter("test.angle_quantization_bins", 87));
EXPECT_NO_THROW(planner->callDynamicParams(parameters));
EXPECT_EQ(planner->getCoarseSearchResolution(), 1);

// test invalid goal heading mode does not modify current
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