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KD-tree attempt #494
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KD-tree attempt #494
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* add new test for histogram compression * fix elevation cropping at compression
* use fsm in local planner waypoint generator * add direct state to local planner fsm * adapt local planner waypoint generator tests to the state machine * remove unused code * clean up state machine in local planner * modify cost function to get back on the prev to current waypoint line after the obstacle is avoided * init state machine in loiter state and uncomment code * fix tests for new cost function and state machine initialization * fix uninitialized variables and remove unused variables * SLPState -> PlannerState for local planner state machine * improve cost function to go back to the line previous-current goal only if there aren't any obstacle in the direction of the goal. This prevents indecision when avoiding wide obstacles
This commit changes the star planner to distinguish between setpoints sent to the position controller and the actual positions we would then end up in.
- penalize for big angular changes between parent-child nodes in the tree - penalize for big angular changes at the tree root between iteration
…int in that direction, rather than nearest distance in that direction
jkflying
reviewed
Oct 2, 2019
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Remind me to make a BSD license of this when this is closer to being merged
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This is a hacking branch that attempts to replace the histogram with a KD-tree for nearest-neighbor searches.
Doesn't work well at all right now, I just wanted to share my findings if somebody is interested.
May be most useful if looked at on a commit-by-commit basis, I tried to keep them functionally separate