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HJReachability / fastrack

A ROS implementation of Fast and Safe Tracking (FaSTrack).
BSD 3-Clause "New" or "Revised" License
73 stars 19 forks source link

Dynamic planner #7

Closed dfridovi closed 6 years ago

dfridovi commented 6 years ago

TONS of changes. Relatively minor (though extensive) structural changes to things like TEBs and stuff. Main change is added functionality for graph based dynamic planning that maintains recursive feasibility.