yakunouyang
commented
2 years ago 隧道框判定与边界无碰撞之后，各个方向要再收缩圆盘半径radius，才能得到圆盘中心点的的行驶区域，所以返回的那一行没有再加上radius。
To get the actual feasible driving corridor for dual-disc center, the corridor box must shrink radius to make sure that generated discs does not collide with the boundary, so the returned box does not have radius added to it, for detailed explaination please refer to our paper.
非常感谢分享这么好的研究工作，我在阅读代码时候，发现trajectory_optimizer.cpp文件中的result = {{x - incremental[0], y - incremental[2]}, {x + incremental[1], y + incremental[3]}}的这行代码，更改为result = {{x - incremental[0]-radius, y - incremental[2]-radius}, {x + incremental[1]+radius, y + incremental[3]+radius}};是否更为合适？？感谢您的解答