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[MPPI] empty path_follow_critic proper fix #3599

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Merged
SteveMacenski merged 2 commits into from
Jun 6, 2023
Merged

[MPPI] empty path_follow_critic proper fix #3599

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290cbc5
[MPPI] empty path_follow_critic proper fix
Jun 1, 2023
60882f9
fix linting issue
SteveMacenski Jun 6, 2023
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9 changes: 4 additions & 5 deletions nav2_mppi_controller/src/critics/path_follow_critic.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -34,16 +34,15 @@ void PathFollowCritic::initialize()

void PathFollowCritic::score(CriticData & data)
{
const size_t path_size = data.path.x.shape(0) - 1;

if (!enabled_ || path_size == 0 ||
utils::withinPositionGoalTolerance(threshold_to_consider_, data.state.pose.pose, data.path))
if (!enabled_ || data.path.x.shape(0) < 2 ||
utils::withinPositionGoalTolerance(threshold_to_consider_, data.state.pose.pose, data.path))
{
return;
return;
}

utils::setPathFurthestPointIfNotSet(data);
utils::setPathCostsIfNotSet(data, costmap_ros_);
const size_t path_size = data.path.x.shape(0) - 1;

auto offseted_idx = std::min(
*data.furthest_reached_path_point + offset_from_furthest_, path_size);
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