[Rock-dev] [rock] #303: Envire SimpleTraversability Operator fails if the obstacle areas become to large

[rock]

#303: Envire SimpleTraversability Operator fails if the obstacle areas become to
large
-------------------------------------------------+-------------------------
 Reporter:  stefan.haase@…                       |       Owner:  rock-dev-
     Type:  defect                               |  mailing-list
 Priority:  major                                |      Status:  closed
Component:  toolchain                            |   Milestone:
 Keywords:  envire traversability operator       |  Resolution:  fixed
  obstacle                                       |
-------------------------------------------------+-------------------------
Changes (by stha02):

 * status:  new => closed
 * resolution:   => fixed


Comment:

 Fixed, ty used getWidth() in SimpleTraversability::growObstacles():

                 for( int oy = -wy; oy <= wy; ++oy )
                 {
                     for( int ox = -wx; ox <= wx; ++ox )
                     {
                         const int tx = x+ox;
                         const int ty = y+oy;
                         if( (pow(ox*sx,2) + pow(oy*sy,2) < width_square )
                                 && tx >= 0 && tx < (int)map.getWidth()
                                 && ty >= 0 && ty < (int)map.getWidth() )
                                 std::cout << "ty: " << ty <<  "tx " << tx
 << std::endl;
                             data[ty][tx] = CLASS_OBSTACLE;
                     }
                 }

-- 
Ticket URL: <http://rock.opendfki.de/ticket/303#comment:1>
rock <http://rock.opendfki.de>
rock: the robot construction kit