Describe the bug
When the route is launched from certain coordinate quadrants at certain rotations, the resulting driving phase path mesh is too narrow to traverse with the truck
Line 2 of the PG specifies the sample route to load - sample-route5.json by default. Change number in filename to change route (1-5)
Click inside the render canvas and/or press Return to begin driving. Proceed along route
Observe narrowing of tube at lower velocity areas beyond traversable limits
Expected behavior
The generated mesh should have a minimum radius sufficient for the truck to traverse along with obstacle avoidance.
Important sample-route1 through sample-route5 demonstrate starting positions and rotations spread around most quadrants of the coordinate space (except for vertical ones). The path generated should be equally viable for all sample routes
Screenshots
Additional context
I think the issue stems from not correctly taking rotation into account. The rotationQuaternion is captured for every route point, but current attempts to incorporate it into path generation haven't been successful in all test cases.
Describe the bug When the route is launched from certain coordinate quadrants at certain rotations, the resulting driving phase path mesh is too narrow to traverse with the truck
To Reproduce Steps to reproduce the behavior:
2of the PG specifies the sample route to load -sample-route5.jsonby default. Change number in filename to change route (1-5)Expected behavior The generated mesh should have a minimum radius sufficient for the truck to traverse along with obstacle avoidance. Important sample-route1 through sample-route5 demonstrate starting positions and rotations spread around most quadrants of the coordinate space (except for vertical ones). The path generated should be equally viable for all sample routes
Screenshots
Additional context I think the issue stems from not correctly taking rotation into account. The
rotationQuaternionis captured for every route point, but current attempts to incorporate it into path generation haven't been successful in all test cases.