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The GridPath:: getPath function stopped prematurely while backtracking the path, resulting in the generation of incorrect global paths. #1264

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The GridPath:: getPath function stopped prematurely while backtracking the path, resulting in the generation of incorrect global paths. #1264

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cf7ae73
Fix GridPath::getPath function aborted prematurely while backtracking…
JackJu-HIT May 15, 2024
351f504
Fix GridPath::getPath function aborted prematurely while backtracking…
JackJu-HIT May 15, 2024
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2 changes: 2 additions & 0 deletions global_planner/src/grid_path.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -59,6 +59,8 @@ bool GridPath::getPath(float* potential, double start_x, double start_y, double
if (xd == 0 && yd == 0)
continue;
int x = current.first + xd, y = current.second + yd;
if (x > xs_ || y > ys_ || x < 0 || y < 0)
continue;
int index = getIndex(x, y);
if (potential[index] < min_val) {
min_val = potential[index];
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