planner_3d: fix cost calculation bug on in-place turning (#725)

at-wat · Oct 31, 2023 · e632876 · e632876
1 parent 26b99ff
commit e632876
Show file tree

Hide file tree

Showing 2 changed files with 29 additions and 5 deletions.
diff --git a/planner_cspace/src/grid_astar_model_3dof.cpp b/planner_cspace/src/grid_astar_model_3dof.cpp
@@ -155,6 +155,10 @@ float GridAstarModel3D::euclidCostRough(const Vec& v) const
 float GridAstarModel3D::cost(
     const Vec& cur, const Vec& next, const std::vector<VecWithCost>& start, const Vec& goal) const
 {
+  if ((cm_[cur] > 99) || (cm_[next] > 99))
+  {
+    return -1;
+  }
   Vec d_raw = next - cur;
   d_raw.cycle(map_info_.angle);
   const Vec d = d_raw;
@@ -168,18 +172,18 @@ float GridAstarModel3D::cost(
     Vec pos = cur;
     for (int i = 0; i < std::abs(d[2]); i++)
     {
-      pos[2] += dir;
-      if (pos[2] < 0)
-        pos[2] += map_info_.angle;
-      else if (pos[2] >= static_cast<int>(map_info_.angle))
-        pos[2] -= map_info_.angle;
       const auto c = cm_[pos];
       if (c > 99)
         return -1;
       if (c >= cc_.turn_penalty_cost_threshold_)
       {
         sum += c;
       }
+      pos[2] += dir;
+      if (pos[2] < 0)
+        pos[2] += map_info_.angle;
+      else if (pos[2] >= static_cast<int>(map_info_.angle))
+        pos[2] -= map_info_.angle;
     }
     const float turn_cost_ratio = cc_.weight_costmap_turn_ / 100.0;
     const float turn_heuristic_cost_ratio =

diff --git a/planner_cspace/test/src/test_planner_3d_cost.cpp b/planner_cspace/test/src/test_planner_3d_cost.cpp
@@ -66,6 +66,7 @@ TEST(GridAstarModel3D, Cost)
   cc.max_vel_ = 1.0;
   cc.max_ang_vel_ = 1.0;
   cc.angle_resolution_aspect_ = 1.0;
+  cc.turn_penalty_cost_threshold_ = 0;
 
   GridAstarModel3D model(
       map_info,
@@ -91,6 +92,25 @@ TEST(GridAstarModel3D, Cost)
   EXPECT_LT(c_straight, c_curve);
   EXPECT_LT(c_straight, c_drift);
   EXPECT_LT(c_straight, c_drift_curve);
+
+  // These tests are added to confirm that some bugs are fixed by https://github.com/at-wat/neonavigation/pull/725
+  const GridAstarModel3D::Vec start2(5, 5, 0);
+  const GridAstarModel3D::Vec occupied_waypoint(10, 5, 0);
+  const GridAstarModel3D::Vec goal2(10, 5, 3);
+  cm[occupied_waypoint] = 100;
+  // The cost toward the occupied cell should be negative.
+  EXPECT_LT(model.cost(start2, occupied_waypoint, {GridAstarModel3D::VecWithCost(start2)}, occupied_waypoint), 0);
+  // The cost from the occupied cell should be negative.
+  EXPECT_LT(model.cost(occupied_waypoint, goal2, {GridAstarModel3D::VecWithCost(occupied_waypoint)}, goal2), 0);
+
+  const GridAstarModel3D::Vec start3(10, 20, 0);
+  cm[start3] = 99;
+  const GridAstarModel3D::Vec waypoint3(10, 20, 3);
+  const GridAstarModel3D::Vec goal3(10, 20, 6);
+  // The cost between start3 and waypoint3 is larger than the cost between waypoint3 and goal3 because start3
+  // has a penalty.
+  EXPECT_GT(model.cost(start3, waypoint3, {GridAstarModel3D::VecWithCost(start3)}, waypoint3),
+            model.cost(waypoint3, goal3, {GridAstarModel3D::VecWithCost(waypoint3)}, goal3));
 }
 }  // namespace planner_3d
 }  // namespace planner_cspace