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karlkurzer / path_planner

Hybrid A* Path Planner for the KTH Research Concept Vehicle

Home Page:http://karlkurzer.github.io/path_planner/

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Why the angle is 6.75°？

yu2014ol opened this issue · comments

commented

According to the description in the paper, shouldn't it be 5°?

// R = 6, 6.75 DEG
const float Node3D::dy[] = { 0,        -0.0415893,  0.0415893};
const float Node3D::dx[] = { 0.7068582,   0.705224,   0.705224};
const float Node3D::dt[] = { 0,         0.1178097,   -0.1178097};
commented

I don't recall the exact values, but if the code says that the turning radius is 6m and the resulting change in heading 6.75 deg, then it's likely correct. You might as well do the math and see, if the values work out.