From 7502908521f3b3dcf49ad613f22b0cb59334d610 Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Fri, 7 Jan 2022 15:22:12 +0100
Subject: [PATCH] minor
---
source/armarx/navigation/global_planning/AStar.h | 6 ++++--
source/armarx/navigation/server/Navigator.cpp | 3 ++-
2 files changed, 6 insertions(+), 3 deletions(-)
diff --git a/source/armarx/navigation/global_planning/AStar.h b/source/armarx/navigation/global_planning/AStar.h
index bb583dd5..8336a9ce 100644
--- a/source/armarx/navigation/global_planning/AStar.h
+++ b/source/armarx/navigation/global_planning/AStar.h
@@ -52,7 +52,9 @@ namespace armarx::navigation::global_planning
class AStar : public GlobalPlanner
{
public:
- AStar(const AStarParams& params, const core::Scene& ctx);
+ using Params = AStarParams;
+
+ AStar(const Params& params, const core::Scene& ctx);
~AStar() override = default;
std::optional<GlobalPlannerResult> plan(const core::Pose& goal) override;
@@ -63,7 +65,7 @@ namespace armarx::navigation::global_planning
std::vector<Eigen::Vector2f> postProcessPath(const std::vector<Eigen::Vector2f>& path);
private:
- AStarParams params;
+ Params params;
};
} // namespace armarx::navigation::global_planning
diff --git a/source/armarx/navigation/server/Navigator.cpp b/source/armarx/navigation/server/Navigator.cpp
index 57d78b3c..d900124d 100644
--- a/source/armarx/navigation/server/Navigator.cpp
+++ b/source/armarx/navigation/server/Navigator.cpp
@@ -567,7 +567,7 @@ namespace armarx::navigation::server
ARMARX_TRACE;
core::Trajectory globalPlanTrajectory = convertToTrajectory(shortestPath, graph);
- globalPlanTrajectory.setMaxVelocity(1000); // FIXME
+ // globalPlanTrajectory.setMaxVelocity(1000); // FIXME
// move ...
@@ -707,6 +707,7 @@ namespace armarx::navigation::server
ARMARX_CHECK_NOT_NULL(config.stack.globalPlanner);
// TODO plan on multiple waypoints, ignoring waypoints for now
// idea: compute multiple global trajectories, one for each segment between waypoints.
+
srv.introspector->onGoal(waypoints.back());
globalPlan = config.stack.globalPlanner->plan(waypoints.back());
--
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