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ethz-asl / mav_active_3d_planning

Modular framework for online informative path planning.
BSD 3-Clause "New" or "Revised" License
552 stars 110 forks source link

Fix/collision checks #41

Closed renezurbruegg closed 3 years ago

renezurbruegg commented 3 years ago

The amount of steps needed for a given speed a should be calculate as distance / (speed / rate) = distance * rate / speed.

Otherwise n_points will be really small which can lead to issues with collision checks (points jump over walls, ... )