gazebosim/gz-common

Dem::Elevation(double _x, double _y) does not handle NoData values

Open

#607 opened on May 10, 2024

View on GitHub
 (0 comments) (0 reactions) (0 assignees)C++ (59 forks)auto 404
bughelp wanted

Repository metrics

Stars
 (28 stars)
PR merge metrics
 (PR metrics pending)

Description

Environment

  • OS Version: Ubuntu 22
  • Source or binary build? Binary

Description

  • Expected behavior: The following call exposes information on whether the data is "NoData" values, which happens over the ocean in some terrain:
    • Dem::Elevationpublic: double Elevation(double _x, double _y);
  • Actual behavior:
    • It returns a double value, which may be the NoData value. This can silently return the NoData value, and if run against physics, could be a situation where the physics mesh is in the wrong location. For a path planner, this could mean you think terrain is safe and it's ok to fly inside a body of water and not collide with it.

Steps to reproduce

I"ll find a representative dataset shortly and create a minimum reproducible example.

  1. Load terrain with NoDat

Output

TBD

Contributor guide

Research direction
Examine the Dem::Elevation function implementation to identify how NoData values are currently returned. Investigate the terrain data format to understand the NoData value representation. Then modify the function to handle NoData by either returning an optional, throwing an exception, or setting an error flag.
Tech stack
cpp
Domain
backendcomputer graphics
Issue type
Bug
DifficultyEstimated implementation difficulty for a new contributor, from 1 for very small changes to 5 for expert-level work.
3
Estimated timeA rough time range for an experienced contributor to investigate, implement, test, and prepare a pull request.
Half day
Activity statusHow available the issue appears right now: fresh, active, stale, blocked, or waiting on maintainer input.
Active
ClarityHow clearly the issue explains the expected change, acceptance criteria, and next step.
Clear
Prerequisites
GitC++
Newbie friendlinessA 1-100 score estimating how approachable this issue is for first-time contributors.
65