about the "w_time_ " parameter in KinodynamicAstar::estimateHeuristic()

HKUST-Aerial-Robotics / Fast-Planner

A Robust and Efficient Trajectory Planner for Quadrotors

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about the "w_time_ " parameter in KinodynamicAstar::estimateHeuristic() #145

Open xiaozialei opened 2 years ago

xiaozialei commented 2 years ago

I want to ask about the intention for adding the "wtime " parameter in the KinodynamicAstar::estimateHeuristic(). In this function, the trajectory cost J(T) equals to -c1 / (3 t t t) - c2 / (2 t t) - c3 / t + "wtime" t, but in the paper "Robust and Efficient Quadrotor Trajectory Generation for Fast Autonomous Flight,2019" the cost J(T) doesn't have the wtime parameter.

CodenSxq commented 2 years ago

I also want to why. Anyone could give me an answer?