PolygonIterator getting stuck

[anybotics]

PolygonIterator getting stuck

[pfankhauser]

Hi @KlausBuchegger! I'm sorry you're experiencing problems with Grid Map. Can you help me find and solve this bug? It would be really helpful if you could recreate your scenario in a unit test and if necessary randomize the values and repeat the test until the error occurs?

[KlausBuchegger]

Sure, I'll try and do that if I find some time, hopefully early next week.

[KlausBuchegger]

So, I tried but failed reproducing my scenario where I got stuck (don't have the exact code anymore).
However, during my experiments I noticed that the GridMap function
getPosition (const Index &index, Position &position)
fails for an Index with negative x or y values.
For example I have a 5x5m map with resolution 0.1 and Position(0,0) as center.
a) Then Index(0,0) ~ Position(2.45,2.45)
b) Index(10,1) ~ Position(1.45,2.35) so far so good
But:
c) Index(-10,1) ~ Position(-1.45,2.45)
d) Index(0,-3) ~ Position(2.3342e-312,0)
I'm not sure what the expected behavior for a negative index should be, my intuition was it would just correspond to a Position outside of the map?
But the y coordinate of c) should definitely be 2.35 to match b) and not 2.45, right?

Anyway this could kind of explain my "getting stuck" behavior, as in those cases the polygon gets really big, and that would take a long time to iterate over every pixel inside.

[KlausBuchegger]

Any progress on this issue?