codecov[bot]
commented
2 years ago Codecov Report
Merging #61 (3e859bc) into main (8941e06) will decrease coverage by
0.00%. The diff coverage is45.00%.
@@ Coverage Diff @@
## main #61 +/- ##
==========================================
- Coverage 22.12% 22.11% -0.01%
==========================================
Files 357 357
Lines 29154 29168 +14
Branches 13315 13328 +13
==========================================
+ Hits 6449 6450 +1
+ Misses 13768 13767 -1
- Partials 8937 8951 +14 | Flag | Coverage Δ | |
|---|---|---|
| tests | 22.11% <45.00%> (-0.01%) |
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Flags with carried forward coverage won't be shown. Click here to find out more.
| Impacted Files | Coverage Δ | |
|---|---|---|
| ...ude/fcl/math/motion/tbv_motion_bound_visitor-inl.h | 26.66% <ø> (ø) |
|
| .../detail/conservative_advancement_func_matrix-inl.h | 67.35% <ø> (ø) |
|
| rmf_traffic/test/unit/test_Conflict.cpp | 21.45% <21.42%> (-0.41%) |
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| ...ty/fcl/include/fcl/math/motion/spline_motion-inl.h | 61.39% <100.00%> (ø) |
|
| ...hape_conservative_advancement_traversal_node-inl.h | 96.00% <100.00%> (ø) |
|
| .../detail/primitive_shape_algorithm/sphere_box-inl.h | 54.76% <0.00%> (-2.39%) |
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| .../detail/convexity_based_algorithm/gjk_libccd-inl.h | 20.18% <0.00%> (ø) |
It seems that the FCL implementation of conservative advancement for two splines has a few bugs in it that allow the conservative advancement algorithm to overshoot. This PR fixes it for the internal version of FCL used by
rmf_traffic. I'll also be submitting a PR to the upstream FCL to fix it likewise there.