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ethz-asl / terrain-navigation

Repository for Safe Low Altitude Navigation in steep terrain for fixed-wing Aerial Vehicles
https://ieeexplore.ieee.org/abstract/document/10443502
BSD 3-Clause "New" or "Revised" License
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ros2: revert value of epsilon used in getClosestPoint #49

Closed srmainwaring closed 7 months ago

srmainwaring commented 7 months ago

Ensure that the value of epsilon used in the call to getClosestPoint in the terrain planner is the same as prior to #44.

Without this change the closest point will be calculated along the line segment joining the path segment start and end as can be seen in the figure below.

Figure: issue with using epsilon=1.0 in getClosestPoint. segment_closest_point