locusrobotics / robot_navigation

Spiritual successor to ros-planning/navigation.
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Changing cost type for calculateKernel #90

Closed ayrton04 closed 3 years ago

ayrton04 commented 3 years ago

The cost values that get passed to calculateKernel are not guaranteed to be unsigned chars, and therefore can't be guaranteed to be in the range of an unsigned char. This can lead to overflowing the cost variable, which will obviously lead to incorrect kernel computation.

ayrton04 commented 3 years ago

@DLu, thoughts?