Quinlan band has problems handling the outer boundary of the SDF

UM-ARM-Lab / smmap

Simultaneous Modeling Manipulation And Planning

1 stars 3 forks source link

Quinlan band has problems handling the outer boundary of the SDF #12

Closed dmcconachie closed 6 years ago

dmcconachie commented 7 years ago

Gets into a (potentially infinite) loop trying to find a location that is both far enough from obstacles, and between two given points that are both out of collision.

dmcconachie commented 6 years ago

Changed the smoothing to move the point on the vector pointing bewteeen prev and curr, which garuntees that the resulting position will be inside the valid region of the SDF.