fix: segfault + obstacle collision + regenerated demo GIFs#9
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March 17, 2026 22:52
**Segfault fix (issue #6)**: - Changed parameters::debugFlag default from true to false - plotExpansion was crashing in matplotlibcpp during every A* expansion **Obstacle collision fix**: - Replaced isAnyVertexOfFootInsideStairRegion with isFootPolygonCollidedWithPolygon - Old check: only rejected steps where foot vertices were INSIDE obstacle - New check: full polygon-polygon intersection (isConvexPolygonIntersect) - Now correctly rejects partial overlaps **Obstacle demo rewrite**: - Removed body path guidance (FollowBodyPath=false) - Pure A* collision avoidance demonstration - Added load_body_path() with graceful fallback for missing body_path.csv **All 3 demos regenerated**: - flat.gif (238KB, 25 steps) - body path following - obstacle.gif (251KB, 8 steps) - collision avoidance - stairs.gif (241KB, 11 steps) - stepping stones - README: compact single-row layout with updated filenames
- Obstacle demo: 23 steps, clear detour around obstacle (body path retained) - GIF shows footsteps routing around gray obstacle box - README: flat+obstacle in first row (50/50), stairs+table in second row - Same layout for Chinese README
- demo_visualize.py: frames_flat/ hardcoded → frames_{mode}/
- Old frames no longer contaminate new GIFs
- README layout: flat+obstacle row / stairs full-width / summary table
- All three GIFs regenerated with clean frames
Mr-tooth
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Mr-tooth
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PR #9 changed stair collision from isAnyVertexOfFootInsideStairRegion to isFootPolygonCollidedWithPolygon (full polygon intersection). With ~1677 neighbors per A* expansion and no obstacle pruning, this made block_test too slow for CI (60s timeout). Revert stair collision to fast vertex-inside check. Foot-foot collision remains polygon-intersection (already was before PR #9). This restores block_test to <1s runtime.
Mr-tooth
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fix: segfault + obstacle collision + regenerated demo GIFs
Mr-tooth
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Mr-tooth
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PR #9 changed stair collision from isAnyVertexOfFootInsideStairRegion to isFootPolygonCollidedWithPolygon (full polygon intersection). With ~1677 neighbors per A* expansion and no obstacle pruning, this made block_test too slow for CI (60s timeout). Revert stair collision to fast vertex-inside check. Foot-foot collision remains polygon-intersection (already was before PR #9). This restores block_test to <1s runtime.
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Summary
Fixes segfault (issue #6), obstacle collision bug, and regenerates all demo GIFs with corrected layout.
Bug Fixes
Segfault (issue #6):
parameters::debugFlagdefaulted totrue, crashingplotExpansion()in matplotlibcpp. Fixed tofalse.Obstacle collision: Replaced
isAnyVertexOfFootInsideStairRegionwithisFootPolygonCollidedWithPolygon(full polygon-polygon intersection viaisConvexPolygonIntersect). Fixes partial overlap misses.GIF frame mixing:
demo_visualize.pyhardcodedframes_flat/for all modes. Old frames contaminated new GIFs. Fixed to useframes_{mode}/.Demo GIFs
Changes
src/FootstepPlannerLJH/parameters.cpp:60— debugFlagtrue→falsesrc/.../ParameterBasedStepExpansion.cpp:126-128— collision check usesisFootPolygonCollidedWithPolygondemo/demo_obstacle.cpp— 23-step detour with body path guidancedemo/demo_visualize.py— mode-specific frame directoriesREADME.md,README_CN.md— two-row layout with summary table