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Published 20 hours ago • verified publisher icon ethz-asl

Fix A* star selection logic

Open victorreijgwart opened this issue 3 years ago • 0 comments

This PR fixes A*'s best-path selection comparison, which was wrongly inverted. Unsurprisingly this significantly improves performance, especially when the linked skeleton graph becomes large.

This bug also affects mav_voxblox_planning and the other packages in our stack that are derived from it. Corresponding PRs will be opened there.

victorreijgwart avatar Mar 17 '21 22:03 victorreijgwart