Goal state changed to some other close value sometimes in waypoints

[himanshu-erol]

I was trying out your code while working on a path planning algorithm. It works perfectly fine the only problem being that sometimes when i set the goal states manually to some value, when solution is found and goal states are printed, the final goal point is changed to some nearby value rather than the exact value given by me. I am using old_path_planning code to find the waypoints using RRTstar.

[ayushgaud]

In RRTstar implementation the planner specs are set to allow approximate solutions and if no exact solution is found in the given time then it might report you the best approximate solution to the goal. You can test if the solution in approximate using pdef->hasApproximateSolution() and also find the distance from top solution to exact goal using pdef->getSolutionDifference()