minor imporvement

ros-navigation · Mar 25, 2024 · de2716f · de2716f
1 parent 573250b
commit de2716f
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Showing 2 changed files with 3 additions and 3 deletions.
diff --git a/nav2_smac_planner/src/a_star.cpp b/nav2_smac_planner/src/a_star.cpp
@@ -297,7 +297,7 @@ bool AStarAlgorithm<NodeT>::areInputsValid()
   // Check if ending point is valid
   if (getToleranceHeuristic() < 0.001) {
     // if any goal is valid, then all goals are valid
-    auto goal = *_goalsSet.begin(); 
+    auto goal = *_goalsSet.begin();
     if (!goal->isNodeValid(_traverse_unknown, _collision_checker)) {
       throw nav2_core::GoalOccupied("Goal was in lethal cost");
     }

diff --git a/nav2_smac_planner/test/test_a_star.cpp b/nav2_smac_planner/test/test_a_star.cpp
@@ -351,7 +351,7 @@ TEST(AStarTest, test_se2_single_pose_path)
   delete costmapA;
 }
 
-TEST(AStarTest, test_goal_heading_goals)
+TEST(AStarTest, test_goal_heading_mode)
 {
   auto lnode = std::make_shared<rclcpp_lifecycle::LifecycleNode>("test");
   nav2_smac_planner::SearchInfo info;
@@ -373,6 +373,7 @@ TEST(AStarTest, test_goal_heading_goals)
   double max_planning_time = 120.0;
   int num_it = 0;
 
+  // BIDIRECTIONAL goal heading mode
   a_star.initialize(
     false, max_iterations, it_on_approach, terminal_checking_interval,
     max_planning_time, 401, size_theta, nav2_smac_planner::GoalHeadingMode::BIDIRECTIONAL);
@@ -390,7 +391,6 @@ TEST(AStarTest, test_goal_heading_goals)
     std::make_unique<nav2_smac_planner::GridCollisionChecker>(costmap_ros, size_theta, lnode);
   checker->setFootprint(nav2_costmap_2d::Footprint(), true, 0.0);
 
-  // BIDIRECTIONAL goal heading mode
   a_star.setCollisionChecker(checker.get());
   a_star.setStart(10u, 10u, 0u);
   a_star.setGoal(80u, 80u, 40u);