change the name setValidRegion to setSearchRegion

sikang · Aug 29, 2018 · 60f3082 · 60f3082
1 parent 82b11af
commit 60f3082
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Showing 4 changed files with 5 additions and 5 deletions.
diff --git a/include/mpl_planner/planner/map_planner.h b/include/mpl_planner/planner/map_planner.h
@@ -27,12 +27,12 @@ template <int Dim> class MapPlanner: public PlannerBase<Dim, Waypoint<Dim>> {
   /// Set map util
   virtual void setMapUtil(const std::shared_ptr<MapUtil<Dim>> &map_util);
   /**
-   * @brief Set valid region
+   * @brief Set search region
    * @param path a sequence of waypoints from a path or trajectory
    * @param search_radius the search distance in each axis
    * @param dense if true, do ray cast between two consecutive points in path
    */
-  void setValidRegion(const vec_Vecf<Dim>& path, const Vecf<Dim>& search_radius, bool dense = false);
+  void setSearchRegion(const vec_Vecf<Dim>& path, const Vecf<Dim>& search_radius, bool dense = false);
 
   /// Get search region
   vec_Vecf<Dim> getSearchRegion() const;

diff --git a/src/mpl_planner/map_planner.cpp b/src/mpl_planner/map_planner.cpp
@@ -35,7 +35,7 @@ void MapPlanner<Dim>::setGradientWeight(decimal_t w) {
 }
 
 template <int Dim>
-void MapPlanner<Dim>::setValidRegion(const vec_Vecf<Dim>& path, const Vecf<Dim>& search_radius, bool dense) {
+void MapPlanner<Dim>::setSearchRegion(const vec_Vecf<Dim>& path, const Vecf<Dim>& search_radius, bool dense) {
   // create cells along path
   vec_Veci<Dim> ps;
   if(!dense) {

diff --git a/test/test_distance_map_planner_2d.cpp b/test/test_distance_map_planner_2d.cpp
@@ -86,7 +86,7 @@ int main(int argc, char **argv) {
   planner->setU(U);              // Set control input
   planner->setEpsilon(1.0);           // Set heursitic to zero
 
-	planner->setValidRegion(path, Vec2f(0.5, 0.5)); // Set search region around path
+	planner->setSearchRegion(path, Vec2f(0.5, 0.5)); // Set search region around path
 	planner->setPotentialRadius(Vec2f(1.0, 1.0)); // Set potential distance
   planner->setPotentialWeight(1); // Set potential weight
   planner->setGradientWeight(0); // Set gradient weight

diff --git a/test/test_distance_map_planner_2d_with_yaw.cpp b/test/test_distance_map_planner_2d_with_yaw.cpp
@@ -96,7 +96,7 @@ int main(int argc, char **argv) {
   planner->setU(U_yaw);              // Set control input
   planner->setEpsilon(1.0);           // Set heursitic to zero
 
-	planner->setValidRegion(path, Vec2f(0.5, 0.5)); // Set search region around path
+	planner->setSearchRegion(path, Vec2f(0.5, 0.5)); // Set search region around path
 	planner->setPotentialRadius(Vec2f(1.0, 1.0)); // Set potential distance
   planner->setPotentialWeight(1); // Set potential weight
   planner->setGradientWeight(0); // Set gradient weight