FYI: Extended to 3D #12
Description
Thank you for your great research!
I extended lacam3 to complete 3D maps.
The changes I made are:
- Extended to 3D maps
- Introduced map grid unit and safety distance (suopport heterogeneous agents):
- The original algorithm was based on the assumption that the cell size and the safety distance were consistent. By introducing the concept of safety distance, it's able to mix different types of agents.
- Introduced a safe distance penalty score in SUO
- Simple and space-saving map definition
- Tested in windows and ubuntu (WSL2): Fixed some bugs that caused it to not work on Windows.
https://github.com/Drunkar/lacam3_3D_extended
I did this for my own purposes, but if it helps you in your research, please take a look.