fix build errors

Author: jlblancoc

apps/mrpt_apps_gui/holonomic-navigator-demo/holonomic_navigator_demoMain.cpp

@@ -703,7 +703,7 @@ void holonomic_navigator_demoFrame::simulateOneStep(double time_step)
   ni.maxRobotSpeed = m_simul_options.ROBOT_MAX_SPEED;
   ni.maxObstacleDist = m_simul_options.MAX_SENSOR_RADIUS;
 
-  this->m_holonomicMethod->navigate(ni, no);
+  no = this->m_holonomicMethod->navigate(ni);
 
   mrpt::nav::CHolonomicLogFileRecord::Ptr out_log = no.logRecord;
 

apps/mrpt_apps_gui/ptg-configurator/ptgConfiguratorMain.cpp

@@ -1095,9 +1095,10 @@ void ptgConfiguratorframe::rebuild3Dview()
   {
     if (ptg && ptg->isInitialized())
     {
-      int k = 0;
-      double norm_d = 0;
-      bool is_exact = ptg->inverseMap_WS2TP(tx, ty, k, norm_d);
+      const auto inv = ptg->inverseMap_WS2TP(tx, ty);
+      const bool is_exact = inv.has_value();
+      const int k = is_exact ? inv->first : 0;
+      const double norm_d = is_exact ? inv->second : 0.0;
       const double dir = ptg->index2alpha(k);
       if (is_exact)
       {

doc/source/doxygen-docs/port_mrpt3.md

@@ -371,22 +371,10 @@ abstraction.  Each should be broken into named helpers:
 
 | Function | Lines | Suggested split |
 |----------|-------|-----------------|
-| `PlannerSimple2D::computePath()` | ~465 | Extract `wavePropagation()`, `backtrackPath()` |
-| `PlannerRRT_SE2_TPS::solve()` | ~380 | Extract `sampleFreeSpace()`, `extendTree()`, `optimizePath()` |
-| `CHolonomicFullEval::evalSingleTarget()` | ~290 | Extract `scoreCandidateDirection()`, `applyPenalties()` |
-| `CHolonomicFullEval::navigate()` | ~170 | Extract `findGaps()`, `selectBestDirection()` |
-| `CHolonomicND::gapsEstimator()` | ~150 | Extract gap-merging and gap-filtering helpers |
-| `CLogFileRecord::serializeFrom()` | ~450 | Version-switch per struct field group |
+| `CLogFileRecord::serializeFrom()` | ~450 | Version-switch per struct field group (high backward-compat risk, deferred) |
 
 ---
 
-#### 13.6.10 Test coverage (remaining)
-
-Zero dedicated unit tests for:
-
-- `CWaypointsNavigator` state machine (requires full robot interface mock).
-- `CNavigatorManualSequence`.
-
 ---
 
 ### 13.7 `mrpt_maps` — Miscellaneous

modules/mrpt_nav/include/mrpt/nav/holonomic/CHolonomicFullEval.h

@@ -131,6 +131,21 @@ class CHolonomicFullEval : public CAbstractHolonomicReactiveMethod
   /** Evals one single target of the potentially many of them in NavInput */
   void evalSingleTarget(unsigned int target_idx, const NavInput& ni, EvalOutput& eo);
 
+  /** Fills m_dirs_scores with the 8 raw factor values for every direction. */
+  void fillFactorScores(
+      size_t nDirs,
+      const NavInput& ni,
+      const mrpt::math::TPose2D& target,
+      unsigned int target_k,
+      double target_dist,
+      const std::vector<mrpt::math::TPoint2D>& obstacles_2d,
+      const mrpt::obs::CSinCosLookUpTableFor2DScans::TSinCosValues& sc_lut,
+      CParameterizedTrajectoryGenerator* ptg);
+
+  /** Runs multi-phase scoring on m_dirs_scores and fills eo.phase_scores. */
+  void computePhaseScores(
+      size_t nDirs, const NavInput& ni, unsigned int target_idx, EvalOutput& eo);
+
   mrpt::obs::CSinCosLookUpTableFor2DScans m_sincos_lut;
 };  // end of CHolonomicFullEval
 

modules/mrpt_nav/include/mrpt/nav/planners/PlannerRRT_SE2_TPS.h

@@ -109,6 +109,27 @@ class PlannerRRT_SE2_TPS : public PlannerTPS_VirtualBase
  protected:
   bool m_initialized{false};
 
+ private:
+  using CandidateMap = std::map<double, TMoveEdgeSE2_TP>;
+
+  /** Insert the lowest-cost candidate edge into the tree and update the best
+   *  solution tracking in `result`.  Returns true if this edge is a new
+   *  best solution to the goal. */
+  bool tryInsertBestCandidate(
+      const CandidateMap& candidates, const TPlannerInput& pi, TPlannerResult& result);
+
+  /** Save a 3-D scene log of the current tree state (respects
+   * params.save_3d_log_freq decimation). */
+  void saveSolveIterationLog(
+      const TPlannerInput& pi,
+      const TPlannerResult& result,
+      const mrpt::poses::CPose2D& x_rand_pose,
+      const std::string& log_msg,
+      size_t& log_decimation_cnt,
+      size_t rrt_iter_counter,
+      size_t solve_count,
+      bool highlight_last_edge = true);
+
 };  // end class PlannerRRT_SE2_TPS
 
 /** @} */