Catch if altitude is set too small.

rikba · rikba · commit b138fbc92b7c · 2020-10-27T12:05:24.000+01:00
Closes #40.
diff --git a/polygon_coverage_ros/include/polygon_coverage_ros/coverage_planner.h b/polygon_coverage_ros/include/polygon_coverage_ros/coverage_planner.h
@@ -215,7 +215,11 @@ class CoveragePlanner : public PolygonPlannerBase {
           break;
         }
         if (!altitude_.has_value()) {
-          ROS_WARN("No altitude specified. Creating default altitude 1m.");
+          ROS_WARN("No altitude specified. Creating default altitude of 1m.");
+          altitude_ = std::make_optional(1.0);
+        } else if (altitude_.value() < std::numeric_limits<double>::epsilon()) {
+          ROS_WARN("Altitude to small %.3fm. Setting default altitude of 1m.",
+                   altitude_.value());
           altitude_ = std::make_optional(1.0);
         }
         sensor_model_ = std::make_shared<Frustum>(

Original file line number	Diff line number	Diff line change
`@@ -215,7 +215,11 @@ class CoveragePlanner : public PolygonPlannerBase {`
`215`	`215`	`break;`
`216`	`216`	`}`
`217`	`217`	`if (!altitude_.has_value()) {`
`218`		`- ROS_WARN("No altitude specified. Creating default altitude 1m.");`
	`218`	`+ ROS_WARN("No altitude specified. Creating default altitude of 1m.");`
	`219`	`+ altitude_ = std::make_optional(1.0);`
	`220`	`+ } else if (altitude_.value() < std::numeric_limits<double>::epsilon()) {`
	`221`	`+ ROS_WARN("Altitude to small %.3fm. Setting default altitude of 1m.",`
	`222`	`+ altitude_.value());`
`219`	`223`	`altitude_ = std::make_optional(1.0);`
`220`	`224`	`}`
`221`	`225`	`sensor_model_ = std::make_shared<Frustum>(`