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UnderactuatedRobotics / move_incremental

ROS move_base plugin that implements the D* Lite algorithm, for MIT 16.412 Cognitive Robotics Grand Challenge
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Costmap Opt #2

Open yijiangh opened 7 years ago

yijiangh commented 7 years ago

The cost map update in these lines.

Reference for std::priority_queue can be found here.

__gnu_cxx::hash_map can be found here.

(These are the implementation data structure for open list, close list and priority queue in D* Lite, declared here and here)

I think adding a bool change_flag could be useful.

yijiangh commented 7 years ago

Please refer here

Planner->init() should be called only once.