From a64dfc2a0120edfd92bcc8df36abf602941e81dd Mon Sep 17 00:00:00 2001
From: Steve Macenski <stevenmacenski@gmail.com>
Date: Tue, 23 Jan 2024 22:07:31 +0000
Subject: [PATCH] Prevent analytic expansions from shortcutting Smac Planner
 feasible paths (#3962)

* a potential solution to smac shortcutting

* costmap reoslution

* some fixes

* completed prototype

* some fixes for collision detection and performance

* completing shortcutting fix

* updating tests

* adding readme

---------

Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
---
 .../include/nav2_smac_planner/analytic_expansion.hpp            | 2 +-
 nav2_smac_planner/src/analytic_expansion.cpp                    | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/nav2_smac_planner/include/nav2_smac_planner/analytic_expansion.hpp b/nav2_smac_planner/include/nav2_smac_planner/analytic_expansion.hpp
index 76719d7231..f612d934bb 100644
--- a/nav2_smac_planner/include/nav2_smac_planner/analytic_expansion.hpp
+++ b/nav2_smac_planner/include/nav2_smac_planner/analytic_expansion.hpp
@@ -73,7 +73,7 @@ class AnalyticExpansion
    * @brief Sets the collision checker and costmap to use in expansion validation
    * @param collision_checker Collision checker to use
    */
-  void setCollisionChecker(GridCollisionChecker * collision_checker);
+  void setCollisionChecker(GridCollisionChecker * & collision_checker);
 
   /**
    * @brief Attempt an analytic path completion
diff --git a/nav2_smac_planner/src/analytic_expansion.cpp b/nav2_smac_planner/src/analytic_expansion.cpp
index 9eff4f3d2b..56edbf4f97 100644
--- a/nav2_smac_planner/src/analytic_expansion.cpp
+++ b/nav2_smac_planner/src/analytic_expansion.cpp
@@ -41,7 +41,7 @@ AnalyticExpansion<NodeT>::AnalyticExpansion(
 
 template<typename NodeT>
 void AnalyticExpansion<NodeT>::setCollisionChecker(
-  GridCollisionChecker * collision_checker)
+  GridCollisionChecker * & collision_checker)
 {
   _collision_checker = collision_checker;
 }