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Added if condition to check if waypoint in map or not in kinodynamic_astar.cpp #118

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Added if condition to check if waypoint in map or not in kinodynamic_astar.cpp #118

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4d876ec
Updated kinodynamic_astar.cpp to check if point in map or not
deepak-1530 Aug 8, 2021
3634d3d
Updated kinodynamic_astar.cpp
deepak-1530 Aug 8, 2021
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8 changes: 8 additions & 0 deletions fast_planner/path_searching/src/kinodynamic_astar.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -178,6 +178,14 @@ int KinodynamicAstar::search(Eigen::Vector3d start_pt, Eigen::Vector3d start_v,

Eigen::Vector3d pro_pos = pro_state.head(3);

// check if in map
if (pro_state(0) <= origin_(0) || pro_state(0) >= map_size_3d_(0) ||
pro_state(1) <= origin_(1) || pro_state(1) >= map_size_3d_(1) ||
pro_state(2) <= origin_(2) || pro_state(2) >= map_size_3d_(2)) {

continue;
}

// Check if in close set
Eigen::Vector3i pro_id = posToIndex(pro_pos);
int pro_t_id = timeToIndex(pro_t);
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