4320: Changed precision of calculations of the HybridNode MotionTable…

[AzaelCicero]

---

Basic Info

Info	Please fill out this column
Ticket(s) this addresses	https://github.com/open-navigation/navigation2/issues/4320
Primary OS tested on	Ubuntu
Robotic platform tested on	unit test and inhouse autonomy software
Does this PR contain AI generated software?	No

---

Description of contribution in a few bullet points

• Changed the precision of the calculations in nav2_smac_planner::HybridMotionTable::getClosestAngularBin() to double and added modulus operation against num_angle_quantization to make sure that result is within expected range.

Description of documentation updates required from your changes

• No new documentation was needed.

---

Future work that may be required in bullet points

• We should consider unifying the used precision of the floating point numbers across the library.
• We should divide the field NodeHybrid::Coordinates::theta into two separate fields, theta_bin of integer type and theta of floating, depending on context once it represents the angle and in the other the bin. Or even better create two classes for coordinates: NodeHybrid::Coordinates and NodeHybrid::CoordinatesQuantized

For Maintainers:

• [ ] Check that any new parameters added are updated in docs.nav2.org
• [ ] Check that any significant change is added to the migration guide
• [ ] Check that any new features OR changes to existing behaviors are reflected in the tuning guide
• [ ] Check that any new functions have Doxygen added
• [ ] Check that any new features have test coverage
• [ ] Check that any new plugins is added to the plugins page
• [ ] If BT Node, Additionally: add to BT's XML index of nodes for groot, BT package's readme table, and BT library lists

[codecov[bot]]

Codecov Report

All modified and coverable lines are covered by tests :white_check_mark:

Project coverage is 89.70%. Comparing base (7ef4473) to head (cbd5f46).

Additional details and impacted files

```diff @@ Coverage Diff @@ ## main #4324 +/- ## ========================================== + Coverage 89.69% 89.70% +0.01% ========================================== Files 435 435 Lines 19856 19857 +1 ========================================== + Hits 17809 17813 +4 + Misses 2047 2044 -3 ```

:umbrella: View full report in Codecov by Sentry.
:loudspeaker: Have feedback on the report? Share it here.