Copying improvements @Grant-ed made to the python pure pursuit implementation over to the C++ implementation. Also using the new state system.
Documentation
N/a
Usability concerns or breaking changes?
For some reason, the lookahead distance of 6.0 used in the Grant's PR doesn't work with the C++, or the KDTree implementation, the car cuts corners and hits cones.
What type of PR is this? (check all applicable)
Refactor.
Description
Copying improvements @Grant-ed made to the python pure pursuit implementation over to the C++ implementation. Also using the new state system.
Documentation
N/a
Usability concerns or breaking changes?
For some reason, the
lookaheaddistance of6.0used in the Grant's PR doesn't work with the C++, or the KDTree implementation, the car cuts corners and hits cones.