From df12154542456adaedfeae6c17f966bae8d14f49 Mon Sep 17 00:00:00 2001 From: Kevin Daun Date: Sat, 14 Jul 2018 10:34:46 +0200 Subject: [PATCH] Fix EqualCellProperties matcher. (#1276) --- cartographer/mapping/2d/tsdf_range_data_inserter_2d_test.cc | 4 ++-- cartographer/mapping/internal/tsd_value_converter.cc | 6 +++--- 2 files changed, 5 insertions(+), 5 deletions(-) diff --git a/cartographer/mapping/2d/tsdf_range_data_inserter_2d_test.cc b/cartographer/mapping/2d/tsdf_range_data_inserter_2d_test.cc index c8c3136..7334b2d 100644 --- a/cartographer/mapping/2d/tsdf_range_data_inserter_2d_test.cc +++ b/cartographer/mapping/2d/tsdf_range_data_inserter_2d_test.cc @@ -86,8 +86,8 @@ MATCHER_P3(EqualCellProperties, expected_is_known, expected_tsd, std::to_string(expected_tsd) + "\t" + std::to_string(expected_weight)) { bool result = expected_is_known == arg.is_known_; - result = result && (std::abs(expected_tsd - arg.tsd_ < 1e-4)); - result = result && (std::abs(expected_weight - arg.weight_ < 1e-2)); + result = result && (std::abs(expected_tsd - arg.tsd_) < 1e-4); + result = result && (std::abs(expected_weight - arg.weight_) < 1e-2); return result; } diff --git a/cartographer/mapping/internal/tsd_value_converter.cc b/cartographer/mapping/internal/tsd_value_converter.cc index c35f92b..96caea8 100644 --- a/cartographer/mapping/internal/tsd_value_converter.cc +++ b/cartographer/mapping/internal/tsd_value_converter.cc @@ -26,10 +26,10 @@ TSDValueConverter::TSDValueConverter(float max_tsd, float max_weight, max_weight_(max_weight), tsd_resolution_(32766.f / (max_tsd_ - min_tsd_)), weight_resolution_(32766.f / (max_weight_ - min_weight_)), - value_to_tsd_(conversion_tables->GetConversionTable(unknown_tsd_value_, - min_tsd_, max_tsd_)), + value_to_tsd_( + conversion_tables->GetConversionTable(min_tsd_, min_tsd_, max_tsd_)), value_to_weight_(conversion_tables->GetConversionTable( - unknown_weight_value_, min_weight_, max_weight)) {} + min_weight_, min_weight_, max_weight)) {} } // namespace mapping } // namespace cartographer