[Personalrobots-commit] SF.net SVN: personalrobots:[13208] pkg/trunk

[<ei...@us...>]

Revision: 13208
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=13208&view=rev
Author:   eitanme
Date:     2009-04-01 01:33:19 +0000 (Wed, 01 Apr 2009)

Log Message:
-----------
 r20003@cib:  eitan | 2009-03-24 18:30:40 -0700
 Fixed more bugs... now inflation works properly

Modified Paths:
--------------
    pkg/trunk/world_models/new_costmap/include/new_costmap/costmap_2d.h
    pkg/trunk/world_models/new_costmap/src/costmap_2d.cpp

Property Changed:
----------------
    pkg/trunk/


Property changes on: pkg/trunk
___________________________________________________________________
Modified: svk:merge
   - 637b03a7-42c1-4bbd-8d43-e365e379942c:/prfilters:13971
637b03a7-42c1-4bbd-8d43-e365e379942c:/rosTF_to_tf:9746
920d6130-5740-4ec1-bb1a-45963d5fd813:/costmap_rework_branch:20002
920d6130-5740-4ec1-bb1a-45963d5fd813:/frameidpr:7015
920d6130-5740-4ec1-bb1a-45963d5fd813:/users/josh-pr:11755
920d6130-5740-4ec1-bb1a-45963d5fd813:/wgpkgtrunk:5865
f5854215-dd47-0410-b2c4-cdd35faa7885:/pkg/branches/josh:10136
f5854215-dd47-0410-b2c4-cdd35faa7885:/pkg/branches/rosbus:261
   + 637b03a7-42c1-4bbd-8d43-e365e379942c:/prfilters:13971
637b03a7-42c1-4bbd-8d43-e365e379942c:/rosTF_to_tf:9746
920d6130-5740-4ec1-bb1a-45963d5fd813:/costmap_rework_branch:20003
920d6130-5740-4ec1-bb1a-45963d5fd813:/frameidpr:7015
920d6130-5740-4ec1-bb1a-45963d5fd813:/users/josh-pr:11755
920d6130-5740-4ec1-bb1a-45963d5fd813:/wgpkgtrunk:5865
f5854215-dd47-0410-b2c4-cdd35faa7885:/pkg/branches/josh:10136
f5854215-dd47-0410-b2c4-cdd35faa7885:/pkg/branches/rosbus:261

Modified: pkg/trunk/world_models/new_costmap/include/new_costmap/costmap_2d.h
===================================================================
--- pkg/trunk/world_models/new_costmap/include/new_costmap/costmap_2d.h	2009-04-01 01:32:45 UTC (rev 13207)
+++ pkg/trunk/world_models/new_costmap/include/new_costmap/costmap_2d.h	2009-04-01 01:33:19 UTC (rev 13208)
@@ -59,7 +59,7 @@
   };
 
   inline bool operator<(const CellData &a, const CellData &b){
-    return a.distance_ < b.distance_;
+    return a.distance_ > b.distance_;
   }
 
   /**
@@ -114,7 +114,7 @@
        * @param my The y coordinate of the cell 
        * @return The cost of the cell
        */
-      unsigned char getCellCost(unsigned int mx, unsigned int my) const;
+      unsigned char getCost(unsigned int mx, unsigned int my) const;
 
       /**
        * @brief  Convert from map coordinates to world coordinates
@@ -228,7 +228,7 @@
           double distance = distanceLookup(mx, my, src_x, src_y);
 
           //we only want to put the cell in the queue if it is within the inflation radius of the obstacle point
-          if(distance > cell_inflation_radius_)
+          if(distance >= cell_inflation_radius_)
             return;
 
           //assign the cost associated with the distance from an obstacle to the cell

Modified: pkg/trunk/world_models/new_costmap/src/costmap_2d.cpp
===================================================================
--- pkg/trunk/world_models/new_costmap/src/costmap_2d.cpp	2009-04-01 01:32:45 UTC (rev 13207)
+++ pkg/trunk/world_models/new_costmap/src/costmap_2d.cpp	2009-04-01 01:33:19 UTC (rev 13208)
@@ -105,7 +105,7 @@
     return (unsigned int) cells_dist;
   }
 
-  unsigned char Costmap2D::getCellCost(unsigned int mx, unsigned int my) const {
+  unsigned char Costmap2D::getCost(unsigned int mx, unsigned int my) const {
     ROS_ASSERT_MSG(mx < size_x_ && my < size_y_, "You cannot get the cost of a cell that is outside the bounds of the costmap");
     return cost_map_[my * size_x_ + mx];
   }


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