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[ROS 2][grid_map_core] Fix transformed map f0dd780 #505

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[ROS 2][grid_map_core] Fix transformed map f0dd780 #505

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048153c
Merge branch 'fix/get_transformed_map' into 'master'
maximilianwulf Aug 13, 2020
604b59e
Fix cpplint and uncrustify
kjalloul-anybotics Dec 3, 2024
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4 changes: 2 additions & 2 deletions grid_map_core/src/GridMapMath.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -155,8 +155,8 @@ bool getIndexFromPosition(
internal::getVectorToOrigin(offset, mapLength);
Vector indexVector = ((position - offset - mapPosition).array() / resolution).matrix();
index = internal::getIndexFromIndexVector(indexVector, bufferSize, bufferStartIndex);
if (!checkIfPositionWithinMap(position, mapLength, mapPosition)) {return false;}
return true;
return checkIfPositionWithinMap(position, mapLength, mapPosition) && checkIfIndexInRange(index,
bufferSize);
}

bool checkIfPositionWithinMap(
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111 changes: 111 additions & 0 deletions grid_map_core/test/GridMapMathTest.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -286,10 +286,121 @@ TEST(checkIfPositionWithinMap, EdgeCases)
grid_map::Length mapLength(2.0, 3.0);
grid_map::Position mapPosition(0.0, 0.0);

/*
*
* A (is inside) B (is not inside)
* +-----------------------+
* | |
* | |
* | X |
* | ^ |
* | | |
* | | |
* | <-----+ |
* | Y |
* | |
* | |
* | |
* +-----------------------+
* C (is not inside) D (is not inside)
*
* Resulting coordinates are:
* A: (1.0, 1.5)
* B: (1.0, -1.5)
* C: (-1.0, 1.5)
* D: (-1.0, -1.5)
*
*/

// Noise around A.
EXPECT_TRUE(
grid_map::checkIfPositionWithinMap(
grid_map::Position(1.0, 1.5), mapLength,
mapPosition));
EXPECT_FALSE(
grid_map::checkIfPositionWithinMap(
grid_map::Position(1.0 + DBL_EPSILON, 1.5), mapLength,
mapPosition));
EXPECT_TRUE(
grid_map::checkIfPositionWithinMap(
grid_map::Position(1.0 - DBL_EPSILON, 1.5), mapLength,
mapPosition));
EXPECT_FALSE(
grid_map::checkIfPositionWithinMap(
grid_map::Position(1.0, 1.5 + DBL_EPSILON), mapLength,
mapPosition));
EXPECT_TRUE(
grid_map::checkIfPositionWithinMap(
grid_map::Position(1.0, 1.5 - DBL_EPSILON), mapLength,
mapPosition));

// Noise around B.
EXPECT_FALSE(
grid_map::checkIfPositionWithinMap(
grid_map::Position(1.0, -1.5), mapLength,
mapPosition));
EXPECT_FALSE(
grid_map::checkIfPositionWithinMap(
grid_map::Position(1.0 + DBL_EPSILON, -1.5), mapLength,
mapPosition));
EXPECT_FALSE(
grid_map::checkIfPositionWithinMap(
grid_map::Position(1.0 - DBL_EPSILON, -1.5), mapLength,
mapPosition));
EXPECT_FALSE(
grid_map::checkIfPositionWithinMap(
grid_map::Position(1.0, -1.5 + DBL_EPSILON), mapLength,
mapPosition));
EXPECT_FALSE(
grid_map::checkIfPositionWithinMap(
grid_map::Position(1.0, -1.5 - DBL_EPSILON), mapLength,
mapPosition));

// Noise around C.
EXPECT_FALSE(
grid_map::checkIfPositionWithinMap(
grid_map::Position(-1.0, 1.5), mapLength,
mapPosition));
EXPECT_TRUE(
grid_map::checkIfPositionWithinMap(
grid_map::Position(-1.0 + DBL_EPSILON, 1.5), mapLength,
mapPosition));
EXPECT_FALSE(
grid_map::checkIfPositionWithinMap(
grid_map::Position(-1.0 - DBL_EPSILON, 1.5), mapLength,
mapPosition));
EXPECT_FALSE(
grid_map::checkIfPositionWithinMap(
grid_map::Position(-1.0, 1.5 + DBL_EPSILON), mapLength,
mapPosition));
EXPECT_FALSE(
grid_map::checkIfPositionWithinMap(
grid_map::Position(-1.0, 1.5 - DBL_EPSILON), mapLength,
mapPosition));

// Noise around D.
EXPECT_FALSE(
grid_map::checkIfPositionWithinMap(
grid_map::Position(-1.0, -1.5), mapLength,
mapPosition));
EXPECT_FALSE(
grid_map::checkIfPositionWithinMap(
grid_map::Position(-1.0 + DBL_EPSILON, -1.5), mapLength,
mapPosition));
EXPECT_FALSE(
grid_map::checkIfPositionWithinMap(
grid_map::Position(-1.0 - DBL_EPSILON, -1.5), mapLength,
mapPosition));
EXPECT_FALSE(
grid_map::checkIfPositionWithinMap(
grid_map::Position(-1.0, -1.5 + DBL_EPSILON), mapLength,
mapPosition));
EXPECT_FALSE(
grid_map::checkIfPositionWithinMap(
grid_map::Position(-1.0, -1.5 - DBL_EPSILON), mapLength,
mapPosition));

// Extra tests.
EXPECT_FALSE(
grid_map::checkIfPositionWithinMap(
grid_map::Position(-1.0, 1.5), mapLength,
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