[Afloat16]

Problem

OccupancyGrid.set passes converted region bounds directly into NumPy slices. Negative grid coordinates therefore wrap around to the opposite edge or produce an empty slice. A partially overlapping region may update nothing, while a region entirely outside the map can change unrelated cells.

Change

Intersect the inclusive grid-coordinate bounds with the actual array bounds before assigning. A disjoint region has no effect. The method docstring now states this clipping behaviour.

The regression checks partial overlap and disjoint regions on all four edges, on both a unit grid and a translated grid with half-unit cells.

Validation

• Original source: 6 regression cases failed and 6 controls passed.
• PYTHONPATH=src python -m pytest tests/test_mobile_maps.py tests/test_occgrid_bounds.py -q: 46 passed.
• The regression module passes Ruff and formatting.
• git diff --check passed.

[codacy-production]

Up to standards ✅

🟢 Issues 0 issues

Results:
0 new issues

View in Codacy

🟢 Metrics 4 complexity · 0 duplication

Metric	Results
Complexity	4
Duplication	0

View in Codacy

_{NEW Get contextual insights on your PRs based on Codacy's metrics, along with PR and Jira context, without leaving GitHub. Enable AI reviewer
TIP This summary will be updated as you push new changes.}