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Kinodynamic A*:庞特里亚金启发式函数问题 #167

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lijiaming5550 opened this issue Jan 19, 2024 · 0 comments

lijiaming5550 commented Jan 19, 2024

kinodynamic_astar.cpp：estimateHeuristic函数：J对t的偏导数为上图所示四次多项式，没有常数项，代码中为什么要将常数项变成w_time_，这个会影响最后的多项式的零点位置，从而影响最终结果？

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