Reversed transition-checking on the reverse tree

RoboJackets / rrt

C++ RRT (Rapidly-exploring Random Tree) Implementation

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Reversed transition-checking on the reverse tree #92

Closed kylestach closed 5 years ago

kylestach commented 5 years ago

This disallows planning paths into obstacles, which screws up the smoothing step.

This fixes https://github.com/RoboJackets/robocup-software/issues/1208.

JNeiger commented 5 years ago

Once this gets merged in, we'll have to make another PR in rc-software to update the rrt submodule to the latest commit

kylestach commented 5 years ago

@JNeiger I fixed the style complaints you had, but it seems that stylize has some weird opinions on how things should be styled that we'll just have to ignore here.