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ローカルプランナでエリア回避するための設計 #59

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HansRobo opened this issue Dec 3, 2023 · 5 comments
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ローカルプランナでエリア回避するための設計 #59

HansRobo opened this issue Dec 3, 2023 · 5 comments

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@HansRobo
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HansRobo commented Dec 3, 2023

関連Issue
@HansRobo
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HansRobo commented Dec 3, 2023

基本デザイン
問題は，エリアの回避点生成アルゴリズムがうまくできるかどうか
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@HansRobo
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HansRobo commented Dec 3, 2023

回避点候補生成アルゴリズム

丸

パスに垂直方向に左右に1つづつ生成できたら大丈夫そう

長方形

四隅の点にオフセットつけた点

カプセル型（ボールプレイスメント）

端点に2つづつ用意？（伝われ）

@HansRobo
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HansRobo commented Dec 3, 2023

問題点：エリアの中から出るアルゴリズムどうしよう

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HansRobo commented Dec 3, 2023

いっそ占有格子使ったほうが楽でいいかな
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@HansRobo HansRobo linked a pull request Dec 3, 2023 that will close this issue
ローカルプランナの実装を切替可能にする #61
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@HansRobo HansRobo removed a link to a pull request Dec 16, 2023
ローカルプランナの実装を切替可能にする #61
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ここに書いてあることはだいたい実装した

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