Move projectState after getPointsInside (#4356)

* Modify test to check fix Signed-off-by: Brice <brice.renaudeau@gmail.com> * Add static polygon check before simulation Signed-off-by: Brice <brice.renaudeau@gmail.com> --------- Signed-off-by: Brice <brice.renaudeau@gmail.com>
ros-navigation · May 21, 2024 · df2d686 · df2d686
1 parent bf291d7
commit df2d686
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Showing 2 changed files with 8 additions and 2 deletions.
diff --git a/nav2_collision_monitor/src/polygon.cpp b/nav2_collision_monitor/src/polygon.cpp
@@ -238,7 +238,12 @@ double Polygon::getCollisionTime(
   Velocity vel = velocity;
 
   // Array of points transformed to the frame concerned with pose on each simulation step
-  std::vector<Point> points_transformed;
+  std::vector<Point> points_transformed = collision_points;
+
+  // Check static polygon
+  if (getPointsInside(points_transformed) >= min_points_) {
+    return 0.0;
+  }
 
   // Robot movement simulation
   for (double time = 0.0; time <= time_before_collision_; time += simulation_time_step_) {

diff --git a/nav2_collision_monitor/test/collision_monitor_node_test.cpp b/nav2_collision_monitor/test/collision_monitor_node_test.cpp
@@ -991,7 +991,8 @@ TEST_F(Tester, testProcessApproach)
   // 3. Obstacle is inside robot footprint
   publishScan(0.5, curr_time);
   ASSERT_TRUE(waitData(0.5, 500ms, curr_time));
-  publishCmdVel(0.5, 0.2, 0.0);
+  // Publish impossible cmd_vel to ensure robot footprint is checked
+  publishCmdVel(1000000000.0, 0.2, 0.0);
   ASSERT_TRUE(waitCmdVel(500ms));
   ASSERT_NEAR(cmd_vel_out_->linear.x, 0.0, EPSILON);
   ASSERT_NEAR(cmd_vel_out_->linear.y, 0.0, EPSILON);