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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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Node duplication issue at the connection node of dubinShot and regular search #52

Open yslenjoy opened 2 years ago

yslenjoy commented 2 years ago

https://github.com/karlkurzer/path_planner/blob/524a4894d3dab99fc85906ff4d9c0bea777319ab/src/algorithm.cpp#L493

This line is at the condition that i equals to 0, it sets dubinsNodes[0]'s predecessor as start node. However, checking dubinsNodes[0] == start would get true, which means the first dubin node will equal to is predecessor, and it brings node duplication at the connection of dubinShot and regular search.

(I am using these node results for velocity profile generation, thus duplicated node definitely affect the angle calculation)

karlkurzer commented 1 year ago

Does this fix the issue?

https://github.com/karlkurzer/path_planner/blob/a76a02a5f68630592735bcc0cf8f2888ec7b4814/src/algorithm.cpp#L480