Fix criticalConditionMin 0, add criticalConditionMin 2

launch/multirobot.launch

@@ -76,8 +76,8 @@
   <arg name="gvd_edge_simplification_allow_vertex_removal" default="1" />
   <param name="gvd_edge_simplification_allow_vertex_removal" type="int" value="$(arg gvd_edge_simplification_allow_vertex_removal)" />  
 
-  <arg name="critical_conditiont_min" default="1" />
-  <param name="critical_conditiont_min" type="int" value="$(arg critical_conditiont_min)" />  
+  <arg name="critical_condition_min" default="1" />
+  <param name="critical_condition_min" type="int" value="$(arg critical_condition_min)" />  
 
   <!-- # Map merger Check '../src/MapMerger/MapMerger.{h,cpp}' for help (has defaults values on said file that can be overridden by the ros params) -->
   

src/lib/GVD/src/GvdConfig.h

@@ -38,6 +38,7 @@ public:
   // 0: - All neighbors have greater distance
   // 1: - There is no neighbor with less distance 
   //    - And there is at least one neighbor with greater distance
+  // 2: - There is no neighbor with less distance 
   int criticalConditionMin = 1;
 
 private:

src/lib/GVD/src/TopoMap.cpp

@@ -65,13 +65,18 @@ bool localMinConstrain(DistMap& distMap, GvdGraph& gvd, Pos p) {
 
     // Is local min minimum
     switch (GvdConfig::get()->criticalConditionMin){
-      case 0: isMin = distMap[p].distance < distMap[pN].distance;
-      case 1: isMin = distMap[p].distance <= distMap[pN].distance;
+      case 0: 
+        isMin = distMap[p].distance < distMap[pN].distance;
+        break;
+      case 1: 
+      case 2:
+        isMin = distMap[p].distance <= distMap[pN].distance;
+        break;
     }
 
     if (!isMin) break;
   }
-  return isMin && hasGreater;
+  return isMin && (hasGreater || GvdConfig::get()->criticalConditionMin == 2);
 }
 
 // Return true if there is a path from `prevV` that: