Add option to inflate unknown space (#1675)
* Add option to inflate around unknown space Signed-off-by:Shrijit Singh <shrijitsingh99@gmail.com> * Fix bug regarding lower bound of double in worldToMapEnforceBounds Signed-off-by:
Shrijit Singh <shrijitsingh99@gmail.com> * Convert 2D caches to 1D vectors for automatic memory management and better locality Signed-off-by:
Shrijit Singh <shrijitsingh99@gmail.com> * Add general optimizations and modern syntax Signed-off-by:
Shrijit Singh <shrijitsingh99@gmail.com> * Switch from map<double> to vector<> in using precached integer distances Credits to original author from https://github.com/ros-planning/navigation/pull/839 Signed-off-by:
Shrijit Singh <shrijitsingh99@gmail.com> * Add tests for inflate_unknown and inflate_around_unknown Signed-off-by:
Shrijit Singh <shrijitsingh99@gmail.com> * Remove commented out assert Signed-off-by:
Shrijit Singh <shrijitsingh99@gmail.com>
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- nav2_costmap_2d/include/nav2_costmap_2d/cost_values.hpp 4 additions, 4 deletionsnav2_costmap_2d/include/nav2_costmap_2d/cost_values.hpp
- nav2_costmap_2d/include/nav2_costmap_2d/inflation_layer.hpp 34 additions, 34 deletionsnav2_costmap_2d/include/nav2_costmap_2d/inflation_layer.hpp
- nav2_costmap_2d/include/nav2_costmap_2d/testing_helper.hpp 3 additions, 3 deletionsnav2_costmap_2d/include/nav2_costmap_2d/testing_helper.hpp
- nav2_costmap_2d/plugins/inflation_layer.cpp 93 additions, 67 deletionsnav2_costmap_2d/plugins/inflation_layer.cpp
- nav2_costmap_2d/src/layered_costmap.cpp 2 additions, 2 deletionsnav2_costmap_2d/src/layered_costmap.cpp
- nav2_costmap_2d/test/integration/inflation_tests.cpp 79 additions, 6 deletionsnav2_costmap_2d/test/integration/inflation_tests.cpp
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