compiles

Signed-off-by: stevedanomodolor <stevedan.o.omodolor@gmail.com>

Author: stevedanomodolor

nav2_smac_planner/include/nav2_smac_planner/a_star.hpp

@@ -249,8 +249,6 @@ class AStarAlgorithm
    */
   inline void clearGraph();
 
-  inline bool onVisitationCheckNode(const NodePtr & node);
-
   /**
    * @brief Check if node has been visited
    * @param current_node Node to check if visited

nav2_smac_planner/include/nav2_smac_planner/analytic_expansion.hpp

@@ -38,6 +38,7 @@ class AnalyticExpansion
   typedef std::vector<NodePtr> NodeVector;
   typedef typename NodeT::Coordinates Coordinates;
   typedef std::function<bool (const uint64_t &, NodeT * &)> NodeGetter;
+  typedef typename NodeT::CoordinateVector CoordinateVector;
 
   /**
    * @struct nav2_smac_planner::AnalyticExpansion::AnalyticExpansionNodes

nav2_smac_planner/include/nav2_smac_planner/smac_planner_hybrid.hpp

@@ -124,6 +124,7 @@ class SmacPlannerHybrid : public nav2_core::GlobalPlanner
   std::string _motion_model_for_search;
   MotionModel _motion_model;
   GoalHeadingMode _goal_heading_mode;
+  int _coarse_search_resolution;
   rclcpp_lifecycle::LifecyclePublisher<nav_msgs::msg::Path>::SharedPtr _raw_plan_publisher;
   rclcpp_lifecycle::LifecyclePublisher<visualization_msgs::msg::MarkerArray>::SharedPtr
     _planned_footprints_publisher;

nav2_smac_planner/include/nav2_smac_planner/smac_planner_lattice.hpp

@@ -121,6 +121,7 @@ class SmacPlannerLattice : public nav2_core::GlobalPlanner
   rclcpp_lifecycle::LifecyclePublisher<geometry_msgs::msg::PoseArray>::SharedPtr
     _expansions_publisher;
   GoalHeadingMode _goal_heading_mode;
+  int _coarse_search_resolution;
   std::mutex _mutex;
   rclcpp_lifecycle::LifecycleNode::WeakPtr _node;
 

nav2_smac_planner/test/test_a_star.cpp

@@ -568,20 +568,6 @@ TEST(AStarTest, test_constants)
     nav2_smac_planner::fromStringToGH("NONE"), nav2_smac_planner::GoalHeadingMode::UNKNOWN);
 }
 
-
-int main(int argc, char **argv)
-{
-  ::testing::InitGoogleTest(&argc, argv);
-
-  rclcpp::init(0, nullptr);
-
-  int result = RUN_ALL_TESTS();
-
-  rclcpp::shutdown();
-
-  return result;
-}
-
 int main(int argc, char **argv)
 {
   ::testing::InitGoogleTest(&argc, argv);