[global_planner] tolerance implementation #1041
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Add invert_area_to_clear to clear costmap recovery behavior (ros-planning#1030)
doisyg
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Hi, could we please have these changes in ROS Melodic as well? It will be really helpful, thanks. |
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Implementation of the tolerance param which was never used.
See #262, #703 and #1040
First naive and not so optimized implementation which checks validity using
calculatePotentialsafter filtering out lethal cells (so potentially CPU heavy for large tolerance).Alternatively, a check for the cells value could be used without using
calculatePotentials, or also filtering inscribed or even circumscribed cells. I am up for the debate.