palmieri/theta_star

Theta Star implementation in C++

theta_star's Issues

Missing instructions on few functions and variables

I was trying to implement Theta* planner for ROS2 using this code. While I was creating my own node class from the template I noticed there was few functions and variables that were used in the code but they didn't have any comments about what they were used for and they were completely missing from the template class.

The missing functions and variables were:
m_UserState.setOrientation()
As in:

245. if( !(n->m_UserState.lineofsight(&(n->parent->m_UserState),&((m_Goal)->m_UserState))) )
246. {
247.
248
249.     (m_Goal)->m_UserState.setOrientation(&(n->parent->m_UserState));
250. }	

m_UserState.steer
As in:

252. std::cout<<"Setting Goal orientation done"<<std::endl;
253. m_Goal->m_UserState.steer=n->m_UserState.steer;

m_UserState.costs
m_UserState.getLineCost();
As in:

256. m_Goal->m_UserState.costs=m_Goal->m_UserState.getLineCost();

m_UserState.GetCostTrajFromParent
As in:

425. tcost=n->parent->g+n->parent->m_UserState.GetCostTrajFromParent((n->parent->m_UserState),(successor)->m_UserState );

and m_UserState.GetCostTraj()
As in:

494. newg = n->g + n->m_UserState.GetCostTraj( (successor)->m_UserState );

How should I implement these functions and what does the steer and costs variables do?