planner_cspace: replan immediately when path is blocked by new obstacles #446
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nhatao
changed the title
[#1275] FAILED on kineticTest failed[#1275] FAILED on melodicTest failed |
Codecov Report
@@ Coverage Diff @@
## master #446 +/- ##
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- Coverage 80.18% 80.18% -0.01%
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Files 64 64
Lines 4522 4516 -6
==========================================
- Hits 3626 3621 -5
+ Misses 896 895 -1
Continue to review full report at Codecov.
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@at-wat PTAL. |
[#1277] PASSED on kineticAll tests passed[#1277] PASSED on melodicAll tests passed |
[#1276] PASSED on kineticAll tests passed[#1276] PASSED on melodicAll tests passed |
at-wat
reviewed
Mar 4, 2020
planner_cspace/src/planner_3d.cpp
Outdated
| for (size_t i = 1; i < previous_path.poses.size(); ++i) | ||
| { | ||
| const GridAstarModel3D::Vec cur_grid = pathPose2Grid(previous_path.poses[i]); | ||
| if (model_->cost(prev_grid, cur_grid, {start_grid}, last_grid) < 0) // NOLINT(whitespace/braces) |
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Do we need previous grid?
previous_path is already interpolated with the resolution higher than grid.
cm_[cur_grid] == 100 would be enough.
[#1278] PASSED on kineticAll tests passed[#1278] PASSED on melodicAll tests passed |
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By this PR, robot can stop immediately when path is blocked by moving objects even during sw_wait.