Open set in kinodynamic astar

[DreamWest]

The open set is implemented using the STL priority queue which does not support decrease key, so decreasing the g_score and changing the f_score accordingly of the node in the open set would not affect the internal order. Should we insert a new copy of the node into the open set with changed f_score?

[lightAxis]

I figured out the same problem as yours. But inserting a new copy of the node into the open set every time, makes node pool array explodes over search distance. Need some fix at here.

But almost every issue is not merged, seems like they already leaved this repo. Nobody is managing this anymore I think.