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Global Path Bug #448

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merged 2 commits into from
Oct 27, 2024
Merged

Global Path Bug #448

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afd5489
Made global path none in localpathstate and checked it when initializ…
FireBoyAJ24 Oct 27, 2024
aa3c16e
Changed the test case to not have localpathstate to be none
FireBoyAJ24 Oct 27, 2024
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2 changes: 2 additions & 0 deletions src/local_pathfinding/local_pathfinding/local_path.py
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Original file line number Diff line number Diff line change
Expand Up @@ -47,6 +47,8 @@ def __init__(
HelperLatLon(latitude=waypoint.latitude, longitude=waypoint.longitude)
for waypoint in global_path.waypoints
]
else:
self.global_path = global_path

if filtered_wind_sensor: # TODO: remove when mock can be run
self.wind_speed = filtered_wind_sensor.speed.speed
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5 changes: 3 additions & 2 deletions src/local_pathfinding/local_pathfinding/ompl_path.py
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Expand Up @@ -5,17 +5,18 @@
won't work). The C++ API is documented on the OMPL website:
https://ompl.kavrakilab.org/api_overview.html.
"""

from __future__ import annotations

from typing import TYPE_CHECKING, List, Tuple, Type

from custom_interfaces.msg import HelperLatLon
from ompl import base as ob
from ompl import geometric as og
from ompl import util as ou
from rclpy.impl.rcutils_logger import RcutilsLogger

import local_pathfinding.coord_systems as cs
from custom_interfaces.msg import HelperLatLon
from local_pathfinding.objectives import get_sailing_objective

if TYPE_CHECKING:
Expand All @@ -39,7 +40,7 @@ def __init__(self, local_path_state: LocalPathState, logger: RcutilsLogger):

self.reference_latlon = (
local_path_state.global_path[-1]
if local_path_state and len(local_path_state.global_path) > 0
if local_path_state.global_path and len(local_path_state.global_path) > 0
else HelperLatLon(latitude=0.0, longitude=0.0)
)

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9 changes: 8 additions & 1 deletion src/local_pathfinding/test/test_ompl_path.py
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Expand Up @@ -21,7 +21,14 @@


def test_OMPLPathState():
state = ompl_path.OMPLPathState(local_path_state=None, logger=RcutilsLogger())
local_path_state = LocalPathState(
gps=GPS(),
ais_ships=AISShips(),
global_path=Path(),
filtered_wind_sensor=WindSensor(),
planner="rrtstar",
)
state = ompl_path.OMPLPathState(local_path_state, logger=RcutilsLogger())
assert state.state_domain == (-1, 1), "incorrect value for attribute state_domain"
assert state.state_range == (-1, 1), "incorrect value for attribute start_state"
assert state.start_state == pytest.approx(
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