This PR introduces an additional function updateCurrentPath to the SimplePathTracker. It makes it possible to replace a loaded path in the SimplePathTracker with a new one while it is executed.
The path is not validated e.g. if start of new trajectory is reasonably close to loaded one. It might be better to add something along these lines. With the currently used pure pursuit controller, it is not really a problem because the controller reacts quite slowly.
This PR introduces an additional function
updateCurrentPathto theSimplePathTracker. It makes it possible to replace a loaded path in theSimplePathTrackerwith a new one while it is executed. The path is not validated e.g. if start of new trajectory is reasonably close to loaded one. It might be better to add something along these lines. With the currently used pure pursuit controller, it is not really a problem because the controller reacts quite slowly.