Correction for curves generated on the radius of curvature. #11
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Hi, Can somebody merge this PR? This is so helpful! Thanks! |
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@AndrewWalker is it possible to merge this? |
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Poke on this @AndrewWalker |
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Poke on this @AndrewWalker |
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Hi @AndrewWalker ,
I found out that if the goal point is on the radius of curvature as follows:
.
Then sometimes the path returned is:
But what is expected is:
I added a simple check, that checks if the straight path length is zero, if so it calculates the difference in orientation between the start and goal orientations and normalizes it within 0,2*pi, and sets to out[0] and out[1] and out[2] are set to 0.
Please let me know if there is anything wrong with this implementation.
Thanks,
Jacob