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navfn : fix performance issue #4945

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Basic Info

Info Please fill out this column
Ticket(s) this addresses #4945
Primary OS tested on Ubuntu
Robotic platform tested on reality
Does this PR contain AI generated software? No

Description of contribution in a few bullet points

squared_distance(p, goal) should be calculate when potential < POT_HIGH.

Description of documentation updates required from your changes

none.

Description of how this change was tested

test in reality.


Future work that may be required in bullet points

none

For Maintainers:

  • Check that any new parameters added are updated in docs.nav2.org
  • Check that any significant change is added to the migration guide
  • Check that any new features OR changes to existing behaviors are reflected in the tuning guide
  • Check that any new functions have Doxygen added
  • Check that any new features have test coverage
  • Check that any new plugins is added to the plugins page
  • If BT Node, Additionally: add to BT's XML index of nodes for groot, BT package's readme table, and BT library lists

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codecov bot commented Feb 24, 2025

Codecov Report

Attention: Patch coverage is 0% with 3 lines in your changes missing coverage. Please review.

Files with missing lines Patch % Lines
nav2_navfn_planner/src/navfn_planner.cpp 0.00% 3 Missing ⚠️
Files with missing lines Coverage Δ
nav2_navfn_planner/src/navfn_planner.cpp 90.15% <0.00%> (-0.47%) ⬇️

... and 1 file with indirect coverage changes

@Yancey2023
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I think this PR should be ok. I don't know how to handle the blocking of this merging.

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