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Fix and optimize findPathFurthestReachedPoint #5698

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Fix and optimize findPathFurthestReachedPoint #5698

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7 changes: 6 additions & 1 deletion nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -304,14 +304,19 @@ inline size_t findPathFurthestReachedPoint(const CriticData & data)
for (size_t i = 0; i != n_rows; i++) {
min_id_by_path = 0;
min_distance_by_path = std::numeric_limits<float>::max();
for (size_t j = max_id_by_trajectories; j != n_cols; j++) {
for (size_t j = 0; j != n_cols; j++) {
const float cur_dist = dists(i, j);
if (cur_dist < min_distance_by_path) {
min_distance_by_path = cur_dist;
min_id_by_path = j;
}
}
max_id_by_trajectories = std::max(max_id_by_trajectories, min_id_by_path);

// Early exit if we've already reached the end of the path
if (max_id_by_trajectories == static_cast<int>(n_cols) - 1) {
break;
}
}
return max_id_by_trajectories;
}
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