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Smac planner bad alloc #2516

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Aug 17, 2021
Merged

Smac planner bad alloc #2516

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6c6b0d6
test(nav2_smac_planner): show short path bad_alloc
Aposhian Aug 17, 2021
d2aa041
fix(nav2_smac_planner): fixed bad_alloc
Aposhian Aug 17, 2021
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4 changes: 3 additions & 1 deletion nav2_smac_planner/src/a_star.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -557,7 +557,9 @@ typename AStarAlgorithm<NodeT>::AnalyticExpansionNodes AStarAlgorithm<NodeT>::ge
unsigned int num_intervals = std::floor(d / sqrt_2);

AnalyticExpansionNodes possible_nodes;
possible_nodes.reserve(num_intervals - 1); // We won't store this node or the goal
// When "from" and "to" are zero or one cell away,
// num_intervals == 0
possible_nodes.reserve(num_intervals); // We won't store this node or the goal
std::vector<double> reals;

// Pre-allocate
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41 changes: 41 additions & 0 deletions nav2_smac_planner/test/test_a_star.cpp
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Expand Up @@ -164,6 +164,47 @@ TEST(AStarTest, test_a_star_se2)
delete costmapA;
}

TEST(AStarTest, test_se2_single_pose_path)
{
nav2_smac_planner::SearchInfo info;
info.change_penalty = 0.1;
info.non_straight_penalty = 1.1;
info.reverse_penalty = 2.0;
info.minimum_turning_radius = 8; // in grid coordinates
unsigned int size_theta = 72;
info.cost_penalty = 1.7;
nav2_smac_planner::AStarAlgorithm<nav2_smac_planner::NodeHybrid> a_star(
nav2_smac_planner::MotionModel::DUBIN, info);
int max_iterations = 100;
float tolerance = 10.0;
int it_on_approach = 10;
int num_it = 0;

a_star.initialize(false, max_iterations, it_on_approach, 401, size_theta);

nav2_costmap_2d::Costmap2D * costmapA =
new nav2_costmap_2d::Costmap2D(100, 100, 0.1, 0.0, 0.0, 0);

std::unique_ptr<nav2_smac_planner::GridCollisionChecker> checker =
std::make_unique<nav2_smac_planner::GridCollisionChecker>(costmapA, size_theta);
checker->setFootprint(nav2_costmap_2d::Footprint(), true, 0.0);

// functional case testing
a_star.setCollisionChecker(checker.get());
a_star.setStart(10u, 10u, 0u);
// Goal is one costmap cell away
a_star.setGoal(11u, 10u, 0u);
nav2_smac_planner::NodeHybrid::CoordinateVector path;
EXPECT_TRUE(a_star.createPath(path, num_it, tolerance));

// Check that the path is length one
// With the current implementation, this produces a longer path
// EXPECT_EQ(path.size(), 1u);
EXPECT_GE(path.size(), 1u);

delete costmapA;
}

TEST(AStarTest, test_constants)
{
nav2_smac_planner::MotionModel mm = nav2_smac_planner::MotionModel::UNKNOWN; // unknown
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