Update CheckCollision

Saurav Agarwal · Saurav Agarwal · commit 5d41cccf2c77 · 2024-08-08T07:49:49.000-04:00
diff --git a/cppsrc/core/include/CoverageControl/coverage_system.h b/cppsrc/core/include/CoverageControl/coverage_system.h
@@ -335,7 +335,7 @@ class CoverageSystem {
     }
     auto const &history = robot_positions_history_[robot_id];
     Point2 const last_pos = history.back();
-    auto it_end = std::next(history.crbegin(), static_cast<int>(history.size()) - 1);
+    auto it_end = std::next(history.crbegin(), std::min(6, static_cast<int>(history.size()) - 1));
     bool flag = false;
     int count = 0;
     std::for_each(history.crbegin(), it_end,

Original file line number	Diff line number	Diff line change
`@@ -335,7 +335,7 @@ class CoverageSystem {`
`335`	`335`	`}`
`336`	`336`	`auto const &history = robot_positions_history_[robot_id];`
`337`	`337`	`Point2 const last_pos = history.back();`
`338`		`- auto it_end = std::next(history.crbegin(), static_cast<int>(history.size()) - 1);`
	`338`	`+ auto it_end = std::next(history.crbegin(), std::min(6, static_cast<int>(history.size()) - 1));`
`339`	`339`	`bool flag = false;`
`340`	`340`	`int count = 0;`
`341`	`341`	`std::for_each(history.crbegin(), it_end,`