Update ros-noetic-teb-local-planner.osx.patch

RoboStack · Jan 31, 2024 · aa5267b · aa5267b
1 parent 301cb73
commit aa5267b
Showing 1 changed file with 54 additions and 0 deletions.
diff --git a/patch/ros-noetic-teb-local-planner.osx.patch b/patch/ros-noetic-teb-local-planner.osx.patch
@@ -1,3 +1,57 @@
+diff --git a/include/teb_local_planner/timed_elastic_band.hpp b/include/teb_local_planner/timed_elastic_band.hpp
+index 66c92b8..8a95eaf 100644
+--- a/include/teb_local_planner/timed_elastic_band.hpp
++++ b/include/teb_local_planner/timed_elastic_band.hpp
+@@ -36,6 +36,7 @@
+  * Author: Christoph Rösmann
+  *********************************************************************/
+
++#include <iterator>
+ #include <teb_local_planner/timed_elastic_band.h>
+
+ namespace teb_local_planner
+@@ -49,7 +50,7 @@ bool TimedElasticBand::initTrajectoryToGoal(BidirIter path_start, BidirIter path
+                                      boost::optional<double> start_orientation, boost::optional<double> goal_orientation, int min_samples, bool guess_backwards_motion) 
+ {
+     Eigen::Vector2d start_position = fun_position( *path_start );
+-    Eigen::Vector2d goal_position = fun_position( *boost::prior(path_end) );
++    Eigen::Vector2d goal_position = fun_position( *std::prev(path_end) );
+
+     bool backwards = false;
+
+diff --git a/include/teb_local_planner/visualization.hpp b/include/teb_local_planner/visualization.hpp
+index e619e52..548c57a 100644
+--- a/include/teb_local_planner/visualization.hpp
++++ b/include/teb_local_planner/visualization.hpp
+@@ -38,6 +38,7 @@
+
+ #include <teb_local_planner/visualization.h>
+ #include <boost/utility.hpp>
++#include <iterator>
+
+
+ namespace teb_local_planner
+@@ -196,7 +197,7 @@ void TebVisualization::publishPathContainer(BidirIter first, BidirIter last, con
+   {      
+     // iterate single path points
+     typename PathType::const_iterator it_point, end_point;
+-    for (it_point = first->begin(), end_point = boost::prior(first->end()); it_point != end_point; ++it_point) 
++    for (it_point = first->begin(), end_point = std::prev(first->end()); it_point != end_point; ++it_point) 
+     {
+       geometry_msgs::Point point_start;
+       point_start.x = get_const_reference(*it_point).x();
+@@ -205,8 +206,8 @@ void TebVisualization::publishPathContainer(BidirIter first, BidirIter last, con
+       marker.points.push_back(point_start);
+
+       geometry_msgs::Point point_end;
+-      point_end.x = get_const_reference(*boost::next(it_point)).x();
+-      point_end.y = get_const_reference(*boost::next(it_point)).y();
++      point_end.x = get_const_reference(*std::next(it_point)).x();
++      point_end.y = get_const_reference(*std::next(it_point)).y();
+       point_end.z = 0;
+       marker.points.push_back(point_end);
+     }
+
 diff --git a/include/teb_local_planner/h_signature.h b/include/teb_local_planner/h_signature.h
 index 8837950..4cffcda 100644
 --- a/include/teb_local_planner/h_signature.h