BUGFIX: Missing heading in TP-Space targets

jlblancoc · jlblancoc · commit 23009cb443e5 · 2024-10-18T13:29:20.000+02:00
diff --git a/doc/source/doxygen-docs/changelog.md b/doc/source/doxygen-docs/changelog.md
@@ -1,7 +1,8 @@
 \page changelog Change Log
 
 # Version 2.14.4: UNRELEASED
-(None yet)
+- BUG FIXES:
+  - mrpt::nav::CAbstractPTGBasedReactive: Missing heading information in recently-added TP-Space targets as TPose2D.
 
 # Version 2.14.3: Released Oct 12th, 2024
 - Changes in libraries:
diff --git a/libs/nav/src/reactive/CAbstractPTGBasedReactive.cpp b/libs/nav/src/reactive/CAbstractPTGBasedReactive.cpp
@@ -1462,6 +1462,7 @@ void CAbstractPTGBasedReactive::build_movement_candidate(
       ptg_target.target_alpha = ptg->index2alpha(ptg_target.target_k);
       ptg_target.TP_Target.x = cos(ptg_target.target_alpha) * ptg_target.target_dist;
       ptg_target.TP_Target.y = sin(ptg_target.target_alpha) * ptg_target.target_dist;
+      ptg_target.TP_Target.phi = trg.phi;
 
       ipf.targets.emplace_back(ptg_target);
     }

Original file line number	Diff line number	Diff line change
`@@ -1462,6 +1462,7 @@ void CAbstractPTGBasedReactive::build_movement_candidate(`
`1462`	`1462`	`ptg_target.target_alpha = ptg->index2alpha(ptg_target.target_k);`
`1463`	`1463`	`ptg_target.TP_Target.x = cos(ptg_target.target_alpha) * ptg_target.target_dist;`
`1464`	`1464`	`ptg_target.TP_Target.y = sin(ptg_target.target_alpha) * ptg_target.target_dist;`
	`1465`	`+ ptg_target.TP_Target.phi = trg.phi;`
`1465`	`1466`
`1466`	`1467`	`ipf.targets.emplace_back(ptg_target);`
`1467`	`1468`	`}`