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Minor fix in getClosestPosition to avoid wrong indices #306

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Minor fix in getClosestPosition to avoid wrong indices #306

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8e11af4
Minor fix in getClosestPosition
mmattamala Jun 15, 2021
9fa343f
Add 3rd clip to map test that breaks current version
mmattamala Jul 1, 2021
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12 changes: 6 additions & 6 deletions grid_map_core/src/GridMap.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -719,18 +719,18 @@ Position GridMap::getClosestPositionInMap(const Position& position) const {
const Position3 bottomRightCorner(position_.x() - halfLengthX, position_.y() - halfLengthY, 0.0);

// Find constraints.
const double maxX = topRightCorner.x();
const double maxX = topLeftCorner.x();
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const double minX = bottomRightCorner.x();
const double maxY = bottomLeftCorner.y();
const double maxY = topLeftCorner.y();
const double minY = bottomRightCorner.y();

// Clip to box constraints and correct for indexing precision.
// Points on the border can lead to invalid indices because the cells represent half open intervals, i.e. [...).
positionInMap.x() = std::fmin(positionInMap.x(), maxX - std::numeric_limits<double>::epsilon());
positionInMap.y() = std::fmin(positionInMap.y(), maxY - std::numeric_limits<double>::epsilon());
positionInMap.x() = std::fmin(positionInMap.x(), maxX - 10.0 * std::numeric_limits<double>::epsilon());
positionInMap.y() = std::fmin(positionInMap.y(), maxY - 10.0 * std::numeric_limits<double>::epsilon());

positionInMap.x() = std::fmax(positionInMap.x(), minX + std::numeric_limits<double>::epsilon());
positionInMap.y() = std::fmax(positionInMap.y(), minY + std::numeric_limits<double>::epsilon());
positionInMap.x() = std::fmax(positionInMap.x(), minX + 10.0 * std::numeric_limits<double>::epsilon());
positionInMap.y() = std::fmax(positionInMap.y(), minY + 10.0 * std::numeric_limits<double>::epsilon());

return positionInMap;
}
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