Hey sorry for my confusion for yesterday. I have now fixed the rewire and I believe there is no need for classical algorithm as is now, since it is a simple proof-of-concept on a working rewire. Now RRT* produces paths better than two existing methods by rewiring when necessary.
It is your call to store the old metrics, but I believe this is a better way of doing it. Regards.
Hey sorry for my confusion for yesterday. I have now fixed the rewire and I believe there is no need for classical algorithm as is now, since it is a simple proof-of-concept on a working rewire. Now RRT* produces paths better than two existing methods by rewiring when necessary.
It is your call to store the old metrics, but I believe this is a better way of doing it. Regards.