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hanruihua / RDA-planner

The source code of the [RA-Letter] paper "RDA: An Accelerated Collision Free Motion Planner for Autonomous Navigation in Cluttered Environments"

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为什么LamMuZ_cost_cons函数中计算cost时indep_Im_lamMuZ前加cp.neg

renjieDLUT opened this issue · comments

commented

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在代码实现时,为什么加上了 cp.neg?

commented

详情已回邮件

cp.neg 是为减少迭代次数的工程化改进
论文公式版本见分支 dev_acce: https://github.com/hanruihua/RDA_planner/tree/dev_acce