Fix test

Emerge-Lab · Jan 5, 2024 · dcf45a4 · dcf45a4
1 parent c18c183
commit dcf45a4
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Showing 2 changed files with 11 additions and 5 deletions.
diff --git a/nocturne/cpp/include/road.h b/nocturne/cpp/include/road.h
@@ -73,7 +73,7 @@ class RoadLine : public sf::Drawable {
 
   RoadLine(RoadType road_type,
            const std::initializer_list<geometry::Vector2D>& geometry_points,
-           int64_t sample_every_n = 1, bool check_collision = false, float_t reducing_threshold = 0.01)
+           int64_t sample_every_n = 1, bool check_collision = false, float_t reducing_threshold = 0.0)
       : road_type_(road_type),
         geometry_points_(geometry_points),
         sample_every_n_(sample_every_n),
@@ -85,7 +85,7 @@ class RoadLine : public sf::Drawable {
 
   RoadLine(RoadType road_type,
            const std::vector<geometry::Vector2D>& geometry_points,
-           int64_t sample_every_n = 1, bool check_collision = false, float_t reducing_threshold = 0.01)
+           int64_t sample_every_n = 1, bool check_collision = false, float_t reducing_threshold = 0.0)
       : road_type_(road_type),
         geometry_points_(geometry_points),
         sample_every_n_(sample_every_n),
@@ -97,7 +97,7 @@ class RoadLine : public sf::Drawable {
 
   RoadLine(RoadType road_type,
            std::vector<geometry::Vector2D>&& geometry_points,
-           int64_t sample_every_n = 1, bool check_collision = false, float_t reducing_threshold = 0.01)
+           int64_t sample_every_n = 1, bool check_collision = false, float_t reducing_threshold = 0.0)
       : road_type_(road_type),
         geometry_points_(std::move(geometry_points)),
         sample_every_n_(sample_every_n),

diff --git a/nocturne/cpp/src/road.cc b/nocturne/cpp/src/road.cc
@@ -90,7 +90,7 @@ void RoadLine::InitRoadPoints() {
     skip[0] = false;
     skip[num_sampled_points - 1] = false;
     std::vector<geometry::Vector2D> new_geometry_points; // This list stores the points that are not skipped
-    while (j < num_sampled_points)
+    while (j < num_sampled_points - 1)
     {
       if (!skip[j])
       {
@@ -102,9 +102,15 @@ void RoadLine::InitRoadPoints() {
     {
       road_points_.emplace_back(new_geometry_points[i], new_geometry_points[i + 1], road_type_); // Create the road lines
     }
+    const int64_t p = (num_sampled_points - 2) * sample_every_n_;
+    road_points_.emplace_back(geometry_points_[p], geometry_points_.back(),
+                              road_type_);
+    // Use itself as neighbor for the last point.
+    road_points_.emplace_back(geometry_points_.back(), geometry_points_.back(),
+                              road_type_);
 
     // road_points_.emplace_back(geometry_points_[num_sampled_points - 2], geometry_points_.back(), road_type_); // Create the last road line
-    road_points_.emplace_back(geometry_points_.back(), geometry_points_.back(), road_type_); // Use itself as neighbor for the last point.
+    // road_points_.emplace_back(geometry_points_.back(), geometry_points_.back(), road_type_); // Use itself as neighbor for the last point.
 
     // This is the same logic as before but more efficient without creating a new vector
     // But I am using the above logic for now to make it simple to debug.