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dfki-ric / ugv_nav4d

A 4D (X,Y,Z, Theta) Planner for unmaned ground vehicles (UGVs).
https://dfki-ric.github.io/ugv_nav4d/
BSD 3-Clause "New" or "Revised" License
4 stars 1 forks source link

Seemingly out-of-bound trajectory? #12

Closed soraxas closed 2 weeks ago

soraxas commented 2 weeks ago

Thanks for the additional build instruction, I was able run the application.

By following the given instructions, the result trajectory seems to go out-of-bound (where it penetrates the bottom of the floor at the goal) and has some redundant paths. (circled in red)

What are those? Is that some bug?

image

If you look closely to the image in the README.md, it also seems to have trajectory on void space (no floor)

image

soraxas commented 2 weeks ago

It seems like perhaps those are some visual artifacts of the solution trajectory projected to the ground

haider8645 commented 2 weeks ago

It is just the 2D visualization of the 3D Trajectory. You can disable the visualization on the right side (drop-downs). I guess, I can just remove it as well if it is confusing

soraxas commented 2 weeks ago

I see, perhaps default to False (while keeping your option to toggle it) would be good.

haider8645 commented 2 weeks ago

Disabled Trajectory 2D by default and also added names for the visualization.

image

soraxas commented 2 weeks ago

Looks good to me!