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ZJU-FAST-Lab / Car-like-Robotic-swarm

Source code for the decentralized car-like robotic swarm
GNU General Public License v3.0
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Out of map point when computing hPolys. #13

Closed Chortine closed 3 months ago

Chortine commented 4 months ago

Hi Team,

I found out that when computing the hPolys for fine optimization, the case that point is out of map is allowed, and sometimes cause the final global path out of the map.

Shouldn't here be map_ptr_->getVoxelState2d(tmp) != 0 to filter out the out of map points?

https://github.com/ZJU-FAST-Lab/Car-like-Robotic-swarm/blob/eabbf7c907babe450b49da88c204bf61bf6c1709/src/Minco/traj_planner/src/kino_astar.cpp#L260

Leon-Redfield commented 4 months ago

Yes you are right, it would be better if there is a filter to filter the out of map points