From dcc1d4dafba6f6c7588cb5f7f6ca918b2a6c48ef Mon Sep 17 00:00:00 2001
From: justinIRBT <69175069+justinIRBT@users.noreply.github.com>
Date: Tue, 6 Oct 2020 11:13:30 -0700
Subject: [PATCH] Fix max path cycles for case where map has larger Y dimension
than X dimension (#2017)
* Fix max path cycles for case where map has larger Y dimension than X dimension
* Improve readability
* fix ament_cpplint and ament_uncrustify issues
---
nav2_navfn_planner/src/navfn_planner.cpp | 5 ++++-
1 file changed, 4 insertions(+), 1 deletion(-)
diff --git a/nav2_navfn_planner/src/navfn_planner.cpp b/nav2_navfn_planner/src/navfn_planner.cpp
index 2258b5e1..1b2e2d5e 100644
--- a/nav2_navfn_planner/src/navfn_planner.cpp
+++ b/nav2_navfn_planner/src/navfn_planner.cpp
@@ -320,7 +320,10 @@ NavfnPlanner::getPlanFromPotential(
planner_->setStart(map_goal);
- int path_len = planner_->calcPath(costmap_->getSizeInCellsX() * 4);
+ const int & max_cycles = (costmap_->getSizeInCellsX() >= costmap_->getSizeInCellsY()) ?
+ (costmap_->getSizeInCellsX() * 4) : (costmap_->getSizeInCellsY() * 4);
+
+ int path_len = planner_->calcPath(max_cycles);
if (path_len == 0) {
return false;
}
--
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