I changed a map file,and it doesn't work

karlkurzer / path_planner

Hybrid A* Path Planner for the KTH Research Concept Vehicle

http://karlkurzer.github.io/path_planner/

BSD 3-Clause "New" or "Revised" License

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I changed a map file,and it doesn't work #16

Closed yuhuabing closed 5 years ago

yuhuabing commented 5 years ago

Hi karl: I changed a map, but the program has no output path points. This is my modified yaml file： image: willo.pgm resolution: 0.05 origin: [-26.600000, -28.200000, 0.000000] negate: 0 occupied_thresh: 0.65 free_thresh: 0.196 Can you tell me how to modify the program?Thank you！

karlkurzer commented 5 years ago

tbh. I never used it with grids smaller grid cells smaller than 0.5m. However, it should be possible, some adjustments need to be made to the motion primitives as they should be at least: $\small \sqrt(2a^2)$ with a being the side length of a cell: https://github.com/karlkurzer/path_planner/blob/39705972c28008cc8f2dcf77b4af106d187667a5/src/node3d.cpp#L14

yuhuabing commented 5 years ago

What does “a” mean? For my 0.05 resolution, how should dy and dx and dt be modified, because I don't understand the algorithm, so I don't know how to modify it. Thank you！