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open-rmf / rmf_traffic

Traffic management libraries for RMF
Apache License 2.0
28 stars 26 forks source link

Fix a bug that happens when CA gets too close to the solution #64

Closed mxgrey closed 2 years ago

mxgrey commented 2 years ago

I'm also adding a compiler flag FCL_DEBUG_CA to turn on conservative advancement debugging in case another edge case shows up in the future.

codecov[bot] commented 2 years ago

Codecov Report

Merging #64 (f3c5dc4) into main (a9ccdd5) will not change coverage. The diff coverage is 100.00%.

@@           Coverage Diff           @@
##             main      #64   +/-   ##
=======================================
  Coverage   22.12%   22.12%           
=======================================
  Files         357      357           
  Lines       29171    29171           
  Branches    13329    13330    +1     
=======================================
  Hits         6453     6453           
  Misses      13767    13767           
  Partials     8951     8951
Flag Coverage Δ
tests 22.12% <100.00%> (ø)

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Impacted Files Coverage Δ
.../detail/conservative_advancement_func_matrix-inl.h 67.54% <ø> (ø)
...hape_conservative_advancement_traversal_node-inl.h 96.00% <ø> (ø)
...ty/fcl/include/fcl/math/motion/spline_motion-inl.h 61.39% <100.00%> (ø)
...tail/primitive_shape_algorithm/sphere_sphere-inl.h 35.71% <100.00%> (ø)