added PathDistPrunedCritic for dwb #42
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which works exactly like the original PathDistCritic, except that it searches for a local minimum in the distance from the global path to the robots current position. It then prunes the global_path from the start up to this point, therefore approximately cutting of a segment of the path that the robot already followed.
mintar
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Dec 13, 2019
which works exactly like the original PathDistCritic, except that it searches for a local minimum in the distance from the global path to the robots current position. It then prunes the global_path from the start up to this point, therefore approximately cutting of a segment of the path that the robot already followed.
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Merged via eb17371 . |
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The PathDistPrunedCritic extends PathDistCritic by removing the first part of the global plan up to the first local minimum in the distance between the planned path and the robots position.
The intention is to remove that part of the path that the robot already followed from the critic. This is not accurately achieved yet, but already an improvement over not pruning the path.