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lakshayg / mpel

Motion Planning and Experimentation Library
http://lakshayg.github.io/mpel
MIT License
10 stars 3 forks source link

Fix VoronoiPlanner #1

Closed lakshayg closed 8 years ago

lakshayg commented 8 years ago

VoronoiPlanner connects the start and goal points to nearest point in the voronoi diagram which results in strange paths sometimes. Fix this by connecting the start and goal points to nearest voronoi edge or something similar.

lakshayg commented 8 years ago

screenshot from 2016-06-24 18-28-09

lakshayg commented 8 years ago

Issue is solved. Refer to commit 65477e9938699f04c5bca3fe4a49e048ea9b7993 screenshot from 2016-07-01 04-56-20