Updating static_occupancy_grid.hpp for testing

Signed-off-by: Diego Palma <dpalma@symbotic.com>
Ekumen-OS · Aug 31, 2024 · e591f1e · e591f1e
1 parent 1fa21ff
commit e591f1e
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Showing 3 changed files with 13 additions and 3 deletions.
diff --git a/beluga/include/beluga/sensor/data/occupancy_grid.hpp b/beluga/include/beluga/sensor/data/occupancy_grid.hpp
@@ -187,8 +187,9 @@ class BaseOccupancyGrid2 : public BaseLinearGrid2<Derived> {
 
   [[nodiscard]] auto unknown_obstacle_data() const {
     return this->self().data() |
-           ranges::views::transform(
-               [value_traits = this->self().value_traits()](const auto& value) { return value_traits.status(value); });
+           ranges::views::transform([value_traits = this->self().value_traits()](const auto& value) {
+             return value_traits.get_status(value);
+           });
   }
 };
 

diff --git a/beluga/test/beluga/include/beluga/test/static_occupancy_grid.hpp b/beluga/test/beluga/include/beluga/test/static_occupancy_grid.hpp
@@ -31,6 +31,15 @@ class StaticOccupancyGrid : public BaseOccupancyGrid2<StaticOccupancyGrid<Rows,
     [[nodiscard]] bool is_free(bool value) const { return !value; }
     [[nodiscard]] bool is_unknown(bool) const { return false; }
     [[nodiscard]] bool is_occupied(bool value) const { return value; }
+    [[nodiscard]] beluga::GridStatus get_status(bool value) const {
+      if (is_unknown(value)) {
+        return beluga::GridStatus::kUnknown;
+      }
+      if (is_occupied(value)) {
+        return beluga::GridStatus::kOccupied;
+      }
+      return beluga::GridStatus::kFree;
+    }
   };
 
   explicit StaticOccupancyGrid(

diff --git a/beluga_ros/include/beluga_ros/occupancy_grid.hpp b/beluga_ros/include/beluga_ros/occupancy_grid.hpp
@@ -67,7 +67,7 @@ class OccupancyGrid : public beluga::BaseOccupancyGrid2<OccupancyGrid> {
     /// Check if the given `value` corresponds to that of an occupied cell.
     [[nodiscard]] static bool is_occupied(std::int8_t value) { return value == kOccupiedValue; }
 
-    [[nodiscard]] static beluga::GridStatus status(std::int8_t value) {
+    [[nodiscard]] static beluga::GridStatus get_status(std::int8_t value) {
       if (is_unknown(value)) {
         return beluga::GridStatus::kUnknown;
       }