allan
allan
**Is your feature request related to a problem? Please describe.** A clear and concise description of what the problem is. Ex. I'm always frustrated when [...] **Describe the solution you'd...
when calculating the cost in CalculateCostAt(), why the acc is calculated as 2 * (cost_cr.point().s() / unit_t_ - init_point_.v()) / unit_t_, while in calculating the cost of edge the acceleration...
Why should the maximum steering angle rate be divided by an additional 2 when calculating the dddx bound? Is it for safety margin considerations? Why should dddx be multiplied by...
Why do we need a fallback path? If other paths cannot be generated, shouldn't vehicle stop moving? Doesn't ignoring static obstacles in the fallback path create danger?
```cpp // set x, x', x'' bounds for (int i = 0; i < num_of_variables; ++i) { if (i < n) { variables[i].emplace_back(constraint_index, 1.0); lower_bounds->at(constraint_index) = x_bounds_[i].first * scale_factor_[0]; upper_bounds->at(constraint_index)...
what do lane and road refer to?
 Why impose the restriction? vehicles cannot move too far within a single time unit?
seems like it will skip the generation of st boundary of obstacles
Why does GetOverlapBoundaryPoints use a simpler and more approximate detection method for static obstacles, instead of the more precise boundary shrinking method used for dynamic obstacles?