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HKUST-Aerial-Robotics / Fast-Planner

A Robust and Efficient Trajectory Planner for Quadrotors
GNU General Public License v3.0
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Kinodynamic A*:庞特里亚金启发式函数问题 #167

Open lijiaming5550 opened 10 months ago

lijiaming5550 commented 10 months ago

2024-01-19 10-30-15 的屏幕截图

kinodynamic_astar.cpp：estimateHeuristic函数：J对t的偏导数为上图所示四次多项式，没有常数项，代码中为什么要将常数项变成wtime，这个会影响最后的多项式的零点位置，从而影响最终结果？