Correction for curves generated on the radius of curvature.

[jacobjj]

Hi @AndrewWalker ,

I found out that if the goal point is on the radius of curvature as follows: Then sometimes the path returned is: But what is expected is: .

I added a simple check, that checks if the straight path length is zero, if so it calculates the difference in orientation between the start and goal orientations and normalizes it within 0,2*pi, and sets to out[0] and out[1] and out[2] are set to 0.

Please let me know if there is anything wrong with this implementation.

Thanks, Jacob

[ghanta1996]

Hi, Can somebody merge this PR? This is so helpful!

Thanks!

[rbebb]

@AndrewWalker is it possible to merge this?

[rbebb]

Poke on this @AndrewWalker

[ghanta1996]

Poke on this @AndrewWalker