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(parent: 43c3637) | patch
Fix path optimization procedure
authorJiri Vlasak <hubacji1@fel.cvut.cz>
Fri, 14 Dec 2018 15:54:33 +0000 (16:54 +0100)
committerJiri Vlasak <hubacji1@fel.cvut.cz>
Fri, 14 Dec 2018 17:51:41 +0000 (18:51 +0100)
commit78807d14f541f2cf61fd6e236e4c29585e47c16b
treee6c05d71ec31508323d391ca87e69e2f4c10a5ddtree | snapshot
parent43c36374218187e237fece213087ab5d1ce17a85commit | diff
Fix path optimization procedure

- Use `cost` from planner class.
- Update path even if goal not found.
- Fix adding nodes after steering.
- Update all the costs in tree.
base/rrtbase.cc diff | blob | history