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Implement basic motion planning in cartographer submaps without using whole grid
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32
commits
add Heuristic into ConnectSubmaps, now it's A* algorithm. Untested
6d4f37dView on GitHubmodify BFS, use priority instead of queue for greedy algorithm
faf2e3aView on GitHubchange submap_index to submapid to support multiple trajectory, add some documentation
43b673bView on GitHubmainly change LocalPathPlanRRT, add nearby submaps into submap_indexes instead of only using nearest submaps
c59927eView on GitHubadd kdtree for submaps and add isfree and ispath free using kdtree, untested. TODO: modify LocalPathRRT and related functions
d314554View on GitHub