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quimortiz / dynoplan

https://quimortiz.github.io/idbastar
MIT License
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Focal search state dynoplan #26

Closed akmaralAW closed 2 months ago

akmaralAW commented 4 months ago

Simple cases are considered:

  1. for the high-level search state-by-state collision checking
  2. for the low-level search simple dynamics (all except car with trailer) are considered for the simplicity to verify that the low-level heuristic works. If correct, then adding car with trailer will be not difficult.

I've deleted some lines, please ignore them. Please review only newly added two functions: highLevelfocalHeuristicState() and lowLevelfocalHeuristicState(). It might be slow, but the logic should be correct.

akmaralAW commented 2 months ago

not used, I branched dev_ecbs_dynoplan to continue