Merge pull request #90 from locusrobotics/kernel-cost-type

ayrton04 · web-flow · commit d0ebe153518a · 2021-09-06T11:05:52.000+01:00
Changing cost type for calculateKernel
diff --git a/dlux_global_planner/include/dlux_global_planner/kernel_function.h b/dlux_global_planner/include/dlux_global_planner/kernel_function.h
@@ -80,7 +80,7 @@ inline bool operator &(CardinalDirection a, CardinalDirection b)
  * @param upstream[out] Direction of cells used in computation (if not null initially)
  * @return potential for this cell
  */
-static float calculateKernel(const PotentialGrid& potential_grid, unsigned char cost, unsigned int x, unsigned int y,
+static float calculateKernel(const PotentialGrid& potential_grid, float cost, unsigned int x, unsigned int y,
                              CardinalDirection* upstream = nullptr)
 {
   // See README.md for more about this calculation

Original file line number	Diff line number	Diff line change
`@@ -80,7 +80,7 @@ inline bool operator &(CardinalDirection a, CardinalDirection b)`
`80`	`80`	`* @param upstream[out] Direction of cells used in computation (if not null initially)`
`81`	`81`	`* @return potential for this cell`
`82`	`82`	`*/`
`83`		`-static float calculateKernel(const PotentialGrid& potential_grid, unsigned char cost, unsigned int x, unsigned int y,`
	`83`	`+static float calculateKernel(const PotentialGrid& potential_grid, float cost, unsigned int x, unsigned int y,`
`84`	`84`	`CardinalDirection* upstream = nullptr)`
`85`	`85`	`{`
`86`	`86`	`// See README.md for more about this calculation`