Comments (1)
mamoll
commented on May 24, 2024
Original comment by Mark Moll (Bitbucket: mamoll, GitHub: mamoll).
Fix appears to be correct; it produces shorter paths, the assert statements pass and the state space unit tests still pass. I inspected a few cases where there were significant differences in distances with and without the fix using the demo_GeometricCarPlanning program. It seems to do the right thing. Thanks for reporting the bug!
Since acos always returns values in [0,pi], you can simply set p to twopi-acos(tmp) and eliminate the if statement.
I pushed a fix in [[https://bitbucket.org/ompl/ompl/changeset/6d81ac4a092d|6d81ac4a092d]]
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