From d68d1ad19a18b0107c5916e917900b4293d6fc14 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Francisco=20Mart=C3=ADn=20Rico?= Date: Thu, 15 Oct 2026 16:25:35 +0200 Subject: [PATCH] Obstacle filter test: the high point inside a cell, not on a vertex MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit A point exactly on a grid vertex touches six NavCels, and which one gets marked depends on rounding (NavMap now reports rays through an edge or a vertex as hits on every NavCel there). Signed-off-by: Francisco Martín Rico --- .../tests/navmap_obstacle_filter_tests.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/maps_managers/easynav_navmap_maps_manager/tests/navmap_obstacle_filter_tests.cpp b/maps_managers/easynav_navmap_maps_manager/tests/navmap_obstacle_filter_tests.cpp index cec33ddc..74145f27 100644 --- a/maps_managers/easynav_navmap_maps_manager/tests/navmap_obstacle_filter_tests.cpp +++ b/maps_managers/easynav_navmap_maps_manager/tests/navmap_obstacle_filter_tests.cpp @@ -251,7 +251,7 @@ TEST_F(NavmapObstacleFilterLimitsTest, PointsBelowMinHeightAboveTheSurfaceAreThe perception_.data.push_back(pcl::PointXYZ(x, 4.1f, 0.03f)); // the floor, with noise perception_.data.push_back(pcl::PointXYZ(x, 3.2f, 0.095f)); // below 0.1 } - perception_.data.push_back(pcl::PointXYZ(4.70f, 2.30f, 0.15f)); // above 0.1 + perception_.data.push_back(pcl::PointXYZ(4.66f, 2.26f, 0.15f)); // above 0.1, inside a cell easynav::navmap::ObstacleFilter filter; const auto & nm = run(filter); for (float x = 4.35f; x <= 5.6f; x += 0.3f) {