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Revert a parameter in grid_based_sweep_coverage_path_planner to correct the planning results #917

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merged 1 commit into from
Oct 15, 2023
+3 −3
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Revert a parameter in grid_based_sweep_coverage_path_planner to correct the planning results #917

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6 changes: 3 additions & 3 deletions PathPlanning/GridBasedSweepCPP/grid_based_sweep_coverage_path_planner.py
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Original file line number Diff line number Diff line change
Expand Up @@ -50,7 +50,7 @@ def move_target_grid(self, c_x_index, c_y_index, grid_map):
# moving backward
next_c_x_index = -self.moving_direction + c_x_index
next_c_y_index = c_y_index
if self.check_occupied(next_c_x_index, next_c_y_index, grid_map):
if self.check_occupied(next_c_x_index, next_c_y_index, grid_map, FloatGrid(1.0)):
# moved backward, but the grid is occupied by obstacle
return None, None
else:
Expand All @@ -61,8 +61,8 @@ def move_target_grid(self, c_x_index, c_y_index, grid_map):
return next_c_x_index, next_c_y_index

@staticmethod
def check_occupied(c_x_index, c_y_index, grid_map):
return grid_map.check_occupied_from_xy_index(c_x_index, c_y_index, FloatGrid(0.5))
def check_occupied(c_x_index, c_y_index, grid_map, occupied_val=FloatGrid(0.5)):
return grid_map.check_occupied_from_xy_index(c_x_index, c_y_index, occupied_val)

def find_safe_turning_grid(self, c_x_index, c_y_index, grid_map):

Expand Down