Have a variable for the maximum planner time so we can set hard limits on smoothers and upsamplers to make sure we return a path within the requested time window.
Variable for maximum time, we compute the time left after A* finds the path, then we give that remainder to the smoother and upsampler optimizer cost functions so they don't overrun the requested time period. Documentation recommending to set that to a ceiling not a desired amount so you get the best paths out at all times and still don't overrun requirements
Have a variable for the maximum planner time so we can set hard limits on smoothers and upsamplers to make sure we return a path within the requested time window.
Variable for maximum time, we compute the time left after A* finds the path, then we give that remainder to the smoother and upsampler optimizer cost functions so they don't overrun the requested time period. Documentation recommending to set that to a ceiling not a desired amount so you get the best paths out at all times and still don't overrun requirements