By the way, firi.hpp is actually outdated, my paper about FIRI alg will be released in two month, which solves a lot of problems in the corridor-generation topic. However, even if the currently released code is outdated, it still outperforms all existing methods in corridor generation. Hope it attracts you.
I found your repo interesting, especially its corridor generation. If your are interested in them, maybe you can see my repo:
https://github.com/ZJU-FAST-Lab/GCOPTER
and especially, an self-developed alg for corridor generation:
https://github.com/ZJU-FAST-Lab/GCOPTER/blob/main/gcopter/include/gcopter/firi.hpp
By the way, firi.hpp is actually outdated, my paper about FIRI alg will be released in two month, which solves a lot of problems in the corridor-generation topic. However, even if the currently released code is outdated, it still outperforms all existing methods in corridor generation. Hope it attracts you.