if (iPred == iSucc && nSucc->getC() > nPred->getC() + Constants::tieBreaker) {
delete nSucc;
continue;
}
// if successor is in the same cell and the C value is lower, set predecessor to predecessor of predecessor
else if (iPred == iSucc && nSucc->getC() <= nPred->getC() + Constants::tieBreaker) {
nSucc->setPred(nPred->getPred());
}
Hi, thank you very much for the open-source code. I am confused about the judgment of the same cell in the code above. The index iPred and iSucc here are the three-dimensional indexes related to the heading angle, which will result in almost no judgment as the same cell as long as the heading angle changes. I think it is not necessary to consider the heading angle when judging whether it is the same cell, just check whether there is already a waypoint in the current grid in the 2D grid. What do you think?
algorithm.cpp in line 201 - 208
Hi, thank you very much for the open-source code. I am confused about the judgment of the same cell in the code above. The index iPred and iSucc here are the three-dimensional indexes related to the heading angle, which will result in almost no judgment as the same cell as long as the heading angle changes. I think it is not necessary to consider the heading angle when judging whether it is the same cell, just check whether there is already a waypoint in the current grid in the 2D grid. What do you think?