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Do not iterate over the map when size is 0 #365

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Do not iterate over the map when size is 0 #365

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2 changes: 1 addition & 1 deletion grid_map_core/src/iterators/GridMapIterator.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -17,7 +17,7 @@ GridMapIterator::GridMapIterator(const grid_map::GridMap& gridMap)
startIndex_ = gridMap.getStartIndex();
linearSize_ = size_.prod();
linearIndex_ = 0;
isPastEnd_ = false;
isPastEnd_ = linearSize_ > linearIndex_ ? false : true;
}

GridMapIterator::GridMapIterator(const GridMapIterator* other)
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10 changes: 10 additions & 0 deletions grid_map_core/test/GridMapIteratorTest.cpp
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Expand Up @@ -61,3 +61,13 @@ TEST(GridMapIterator, LinearIndex)
EXPECT_TRUE(iterator.isPastEnd());
EXPECT_TRUE((map["layer"].array() == 1.0f).all());
}

TEST(GridMapIterator, GeometryIsNotSet)
{
grid_map::GridMap map;
grid_map::GridMapIterator iterator(map);

// If geometry of GridMap has not been set, bufferSize is by default (0,0).
// We cannot read GridMap's data as it's empty so GridMapIterator.isPastEnd() should return "true".
EXPECT_TRUE(iterator.isPastEnd());
}