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Downstream/jps dynamic #64

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2ca48fe
adjust patch apply to inside gridmap_scenario
heavenfall Jun 26, 2026
1974610
auto clang-format action
github-actions[bot] Jun 26, 2026
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11 changes: 9 additions & 2 deletions apps/warthog.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -7,6 +7,8 @@
// @created: 2016-11-23
//

#include <warthog/config.h>

#include <warthog/constants.h>
#include <warthog/domain/gridmap.h>
#include <warthog/domain/labelled_gridmap.h>
Expand All @@ -29,7 +31,6 @@

#include "cfg.h"
#include <getopt.h>
#include <warthog/config.h>

#include <cmath>
#include <filesystem>
Expand Down Expand Up @@ -160,6 +161,12 @@ struct gridmap_scenario
if(!patches.load(map)) { return false; }
return run.gridmap_init(grid, patches);
}

bool
apply_patches()
{
return run.gridmap_apply_patches(grid, patches) >= 0;
}
};

template<typename Search>
Expand Down Expand Up @@ -188,7 +195,7 @@ run_experiments(
if(exp == nullptr) { break; }
if(patch_count != 0)
{
if(scen.run.gridmap_apply_patches(scen.grid, scen.patches) < 0)
if(!scen.apply_patches())
{
// failed to apply patches, exit
WARTHOG_GCRIT("dynamic patch error: failed to apply patches");
Expand Down