path_planner
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A minor error in smoother.cpp isCusp function?
inline bool isCusp(const std::vector<Node3D>& path, int i) {
// the author
bool revim2 = path[i - 2].getPrim() > 3 ;
bool revim1 = path[i - 1].getPrim() > 3 ;
bool revi = path[i].getPrim() > 3 ;
bool revip1 = path[i + 1].getPrim() > 3 ;
// bool revip2 = path[i + 2].getPrim() > 3 ;
return (revim2 != revim1 || revim1 != revi || revi != revip1);
}
considering change >3 to >=3 to refer a reverse motion, which is called a cusp point?