Minor issue in the SFC shortcut function

ZJU-FAST-Lab / GCOPTER

A General-Purpose Trajectory Optimizer for Multicopters

MIT License

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Minor issue in the SFC shortcut function #17

Open chenhanpolyu opened 1 year ago

chenhanpolyu commented 1 year ago

Recently I read your code about generating the shortcut SFC, and I found this line is kind of confusing. Maybe it should be "i= j;"?, or could you explain the reason why it should be "i = j+1"? In my understanding, when you find two polyhedrons that connect to each other, you should keep the newly connected polyhedron as the short SFC's tail and find another polyhedron to connect to it (but not choose the former polyhedron as the SFC tail).

ChanJoon commented 4 months ago

@chenhanpolyu Did you find your own answer? I also wonder why.