From 60f3082f4d0948765a9d2ab6cde48e7c035b7ce3 Mon Sep 17 00:00:00 2001
From: sikang <lskwdlskwd@gmail.com>
Date: Wed, 29 Aug 2018 14:28:30 -0400
Subject: [PATCH] change the name setValidRegion to setSearchRegion

---
 include/mpl_planner/planner/map_planner.h      | 4 ++--
 src/mpl_planner/map_planner.cpp                | 2 +-
 test/test_distance_map_planner_2d.cpp          | 2 +-
 test/test_distance_map_planner_2d_with_yaw.cpp | 2 +-
 4 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/include/mpl_planner/planner/map_planner.h b/include/mpl_planner/planner/map_planner.h
index 901bf8cc..1141eb6d 100644
--- 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
index d831d823..a1d5aa81 100644
--- 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
index bac04741..e5b490aa 100644
--- 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
index 0b57b7a9..0863dc95 100644
--- 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