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Rename possible_inscribed_cost into possible_circumscribed_cost in collision_checker.setFootprint #4113

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alanxuefei opened this issue Feb 13, 2024 · 2 comments
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Rename possible_inscribed_cost into possible_circumscribed_cost in collision_checker.setFootprint #4113

alanxuefei opened this issue Feb 13, 2024 · 2 comments

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@alanxuefei
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alanxuefei commented Feb 13, 2024 •
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Bug report

The name of possible_inscribed_cost in GridCollisionChecker::setFootprint may not be accurate.

void GridCollisionChecker::setFootprint(
  const nav2_costmap_2d::Footprint & footprint,
  const bool & radius,
  const double & possible_inscribed_cost)

Because nav2_smac_planner and smac_planner_lattice use circumscribed radius cost (outside circle) instead of inscribed radius cost (inside circle).

  _collision_checker.setFootprint(
    _costmap_ros->getRobotFootprint(),
    _costmap_ros->getUseRadius(),
    findCircumscribedCost(_costmap_ros));

Inscribed radius (inside circle) may not be sufficient for conduct collision check.

Should I create a PR to fix it?
@alanxuefei alanxuefei changed the title rename possible_inscribed_cost into possible_circumscribed_cost in collision_checker.setFootprint Rename possible_inscribed_cost into possible_circumscribed_cost in collision_checker.setFootprint Feb 13, 2024
@SteveMacenski
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SteveMacenski commented Feb 13, 2024 •
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I agree perhaps it could be renamed more clearly. possible_collision_cost?

We use the circumscribed radius as a check to see if its possible that any point on the robot might be in collision. I agree inscribed is an odd choice when I wrote that. We should update MPPI's Cost and Obstacle critics' variables of similar use while we're at it!

@alanxuefei
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I will create a PR within this week.

@alanxuefei alanxuefei mentioned this issue Feb 16, 2024
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SteveMacenski pushed a commit that referenced this issue Feb 17, 2024
@alanxuefei
Refactors possible_inscribed_cost to possible_circumscribed_cost …
bc242b6 
…in collision checker for smac_planner and mppi_controller (#4113). (#4118)

* Utilizes circumscribed radius to assess potential collision points on the robot.
* Ensures safety when the robot's center is outside the circumscribed radius, eliminating additional checks and optimizing CPU usage.
Signed-off-by: Alan Xue <alan.xuefei@googlemail.com>
ajtudela pushed a commit to grupo-avispa/navigation2 that referenced this issue Mar 7, 2024
@alanxuefei @ajtudela
Refactors possible_inscribed_cost to possible_circumscribed_cost …
9e70198 
…in collision checker for smac_planner and mppi_controller (ros-navigation#4113). (ros-navigation#4118)

* Utilizes circumscribed radius to assess potential collision points on the robot.
* Ensures safety when the robot's center is outside the circumscribed radius, eliminating additional checks and optimizing CPU usage.
Signed-off-by: Alan Xue <alan.xuefei@googlemail.com>
stevedanomodolor pushed a commit to stevedanomodolor/navigation2 that referenced this issue Mar 25, 2024
@alanxuefei @stevedanomodolor
Refactors possible_inscribed_cost to possible_circumscribed_cost …
105ab50 
…in collision checker for smac_planner and mppi_controller (ros-navigation#4113). (ros-navigation#4118)

* Utilizes circumscribed radius to assess potential collision points on the robot.
* Ensures safety when the robot's center is outside the circumscribed radius, eliminating additional checks and optimizing CPU usage.
Signed-off-by: Alan Xue <alan.xuefei@googlemail.com>
Signed-off-by: stevedan <stevedan.o.omodolor@gmail.com>
stevedanomodolor added a commit to stevedanomodolor/navigation2 that referenced this issue Mar 25, 2024
@stevedanomodolor
Include goal heading mode to allow bidirectional and all direction goals
e1b1f24 
Signed-off-by: stevedan <stevedan.o.omodolor@gmail.com>

New MPPI Cost Critic (Contrib: Brice Renaudeau) (ros-navigation#4090)

* Share code

Signed-off-by: Brice <brice.renaudeau@gmail.com>

* Update inflation_cost_critic.hpp

- copyright
- ifndef

Signed-off-by: Brice <brice.renaudeau@gmail.com>

* fix lint cpp

- extra space

Signed-off-by: Brice <brice.renaudeau@gmail.com>

* Fix Smac Planner confined collision checker  (ros-navigation#4055)

* Update collision_checker.cpp

Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>

* Fix tests

Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>

* Update test_a_star.cpp

Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>

---------

Signed-off-by: Brice <brice.renaudeau@gmail.com>

* Prevent analytic expansions from shortcutting Smac Planner feasible paths (ros-navigation#3962)

* a potential solution to smac shortcutting

* costmap reoslution

* some fixes

* completed prototype

* some fixes for collision detection and performance

* completing shortcutting fix

* updating tests

* adding readme

---------

Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
Signed-off-by: Brice <brice.renaudeau@gmail.com>

* change pointer free order in amcl to avoid use-after-free bug mentioned in ros-navigation#4068 (ros-navigation#4070)

Signed-off-by: GoesM <GoesM@buaa.edu.cn>
Co-authored-by: GoesM <GoesM@buaa.edu.cn>
Signed-off-by: Brice <brice.renaudeau@gmail.com>

* [Smac Planner] Massive Improvement of Behavior for SE2 Footprint Checking (ie non-circular robots) In Confined Settings (ros-navigation#4067)

* prototype to test SE2 footprint H improvements

* some fixes

* fixed

* invert logic

* Working final prototype to be tested

* complete unit test conversions

* Update inflation_layer.hpp

Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>

---------

Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
Signed-off-by: Brice <brice.renaudeau@gmail.com>

* Adding new Smac paper to readme

Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
Signed-off-by: Brice <brice.renaudeau@gmail.com>

* Update README.md

Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
Signed-off-by: Brice <brice.renaudeau@gmail.com>

* [behavior_tree] don't repeat yourself in "blackboard->set" (ros-navigation#4074)

* don't repeat yourself: templates in tests

Signed-off-by: Davide Faconti <davide.faconti@gmail.com>

* misse change

Signed-off-by: Davide Faconti <davide.faconti@gmail.com>

---------

Signed-off-by: Davide Faconti <davide.faconti@gmail.com>
Signed-off-by: Brice <brice.renaudeau@gmail.com>

* Allow path end pose deviation revive (ros-navigation#4065)

* Support stitching paths in compute path to poses

* Update nav2_planner/src/planner_server.cpp

Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>

* Rename parameter to allow_path_through_poses_goal_deviation

* Fix description

* restore nav2_params

* missing whitespace

* lint fix

* removed parameter

Signed-off-by: gg <josho.wallace@gmail.com>

* Update planner_server.hpp

* Update planner_server.cpp

---------

Signed-off-by: gg <josho.wallace@gmail.com>
Co-authored-by: pepisg <pedro.gonzalez@eia.edu.co>
Co-authored-by: Pedro Alejandro González <71234974+pepisg@users.noreply.github.com>
Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>
Signed-off-by: Brice <brice.renaudeau@gmail.com>

* Updated code to use getInflationLayer() method (ros-navigation#4076)

* updated code to use getInflationLayer method

Signed-off-by: Jose Faria <20467009+jncfa@users.noreply.github.com>

* Fix linting

Signed-off-by: Jose Faria <20467009+jncfa@users.noreply.github.com>

---------

Signed-off-by: Jose Faria <20467009+jncfa@users.noreply.github.com>
Signed-off-by: Brice <brice.renaudeau@gmail.com>

* 1594 twist stamped publisher (ros-navigation#4077)

* Add TwistStamped to controller_server via TwistPublisher util

* Add a new util class for publishing either Twist or TwistStamped
* Add a new parameter for selecting to stamp the twist data
* Consume TwistPublisher in nav2_controller

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>

* Fix small issues

* Unused variable
* Incorrect doxygen

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>

* Remove stored node and assert

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>

* Add tests for node

* Facing timeout even though it does the same thing as velocity smoother test

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>

* Add missing spin call to solve timeout

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>

* Fix copyright (me instead of intel)

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>

* Add full test coverage with subscriber

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>

* Remove unused rclcpp fixture

* Can't use it due to needing to join the pub thread after rclcpp shuts down

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>

* Use TwistStamped in nav2_behaviors

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>

* Use TwistStamped in collision monitor node

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>

* Add TwistStamped readme updates to velocity smoother

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>

* Add TwistSubscriber implementation

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>

* Fix syntax errors

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>

* Use TwistSubscriber in test_velocity_smoother

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>

* Use TwistSubscriber in assisted_teleop

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>

* Use TwistSubscriber in collision monitor node

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>

* Use TwistSubscriber in velocity smoother

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>

* Remove unused code

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>

* add timestamp and frame_id to TwistStamped message

* Add missing utility include

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>

* Document TwistPublisher and TwistSubscriber usage

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>

* Use pass-by-reference

* Instead of std::move(std::unique_ptr<TwistStamped>)

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>

* Finish twist subscriber tests

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>

* Add other constructor and docs

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>

* Fix linter issues

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>

* Manually fix paren alignment

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>

* Remove GSoC reference

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>

* Document twist bool param in README

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>

* Handle twistPublisher in collision monitor

* Implement behavior in the stamped callback
* Unstamped callback calls the stamped callback
* Switch to unique pointer for publisher

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>

* Convert to using TwistStamped interally

* Use incoming twistStamped timestamp if available
* Convert all internal representations to use TwistStamped

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>

* Remove nav2_util usage instructions

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>

* Remove unused Twist only subscriber

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>

* More linter fixes

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>

* Prefer working with unique_ptr for cmd_vel

* This makes it easier to switch to std::move instead of dereference on
  publish

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>

* Completing twist stamped migration

* shared to unique ptr

Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>

* twist add stamps and properly propogated

* nav2_util: fix for compiling with clang

- Resolve error: moving a temporary object prevents copy elision [-Werror,-Wpessimizing-move]

Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>

---------

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
Co-authored-by: pedro-fuoco <pedrofuoco6@gmail.com>
Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>
Co-authored-by: Rhys Mainwaring <rhys.mainwaring@me.com>
Signed-off-by: Brice <brice.renaudeau@gmail.com>

* Change costmap_queue to shared library (ros-navigation#4072)

Signed-off-by: cybaol <cybao292261@163.com>
Signed-off-by: Brice <brice.renaudeau@gmail.com>

* fix include of hpp

Signed-off-by: Brice Renaudeau <brice.renaudeau@gmail.com>

* inflation cost optmiizations and cleanu

* rename, add defaults, and docs

* smoke test addition

* lintg

* normalize weight

* update readme

* increment cache

* Update cost_critic.hpp

Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>

* Update cost_critic.cpp

Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>

---------

Signed-off-by: Brice <brice.renaudeau@gmail.com>
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
Signed-off-by: GoesM <GoesM@buaa.edu.cn>
Signed-off-by: Davide Faconti <davide.faconti@gmail.com>
Signed-off-by: gg <josho.wallace@gmail.com>
Signed-off-by: Jose Faria <20467009+jncfa@users.noreply.github.com>
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
Signed-off-by: cybaol <cybao292261@163.com>
Signed-off-by: Brice Renaudeau <brice.renaudeau@gmail.com>
Co-authored-by: BriceRenaudeau <48433002+BriceRenaudeau@users.noreply.github.com>
Co-authored-by: GoesM <130988564+GoesM@users.noreply.github.com>
Co-authored-by: GoesM <GoesM@buaa.edu.cn>
Co-authored-by: Davide Faconti <davide.faconti@gmail.com>
Co-authored-by: Joshua Wallace <josho.wallace@gmail.com>
Co-authored-by: pepisg <pedro.gonzalez@eia.edu.co>
Co-authored-by: Pedro Alejandro González <71234974+pepisg@users.noreply.github.com>
Co-authored-by: jncfa <20467009+jncfa@users.noreply.github.com>
Co-authored-by: Ryan <ryanfriedman5410+github@gmail.com>
Co-authored-by: pedro-fuoco <pedrofuoco6@gmail.com>
Co-authored-by: Rhys Mainwaring <rhys.mainwaring@me.com>
Co-authored-by: Kino <cybao292261@163.com>

[behavior_tree] support both ports and blackboard (ros-navigation#4060)

* check result of blackboard->get and use halTree

Signed-off-by: Davide Faconti <davide.faconti@gmail.com>

* remove unused header

Signed-off-by: Davide Faconti <davide.faconti@gmail.com>

* BT: add port inputs when missing and use getInputPortOrBlackboard

Signed-off-by: Davide Faconti <davide.faconti@gmail.com>

* add description

Signed-off-by: Davide Faconti <davide.faconti@gmail.com>

* change return value of getInputPortOrBlackboard

Signed-off-by: Davide Faconti <davide.faconti@gmail.com>

* updated tree XML

Signed-off-by: Davide Faconti <davide.faconti@gmail.com>

---------

Signed-off-by: Davide Faconti <davide.faconti@gmail.com>

Use ament_export_targets for all targets (ros-navigation#4112)

* Matches new internal ALIAS targets
* Use ALIAS targets for all internal linkage
* Remove unnecessary calls to ament_target_dependencies in test code
* Export includes in proper folders for overlays in colcon

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>

adding new Friends of Nav2 Sponsors!

Update README.md (ros-navigation#4114)

Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>

CI green P3 (ros-navigation#4117)

Refactors `possible_inscribed_cost` to `possible_circumscribed_cost` in collision checker for smac_planner and mppi_controller (ros-navigation#4113). (ros-navigation#4118)

* Utilizes circumscribed radius to assess potential collision points on the robot.
* Ensures safety when the robot's center is outside the circumscribed radius, eliminating additional checks and optimizing CPU usage.
Signed-off-by: Alan Xue <alan.xuefei@googlemail.com>

Added cast to float to getClosestAngularBin return for behavior consistency (ros-navigation#4123)

* Added cast to float to getClosestAngularBin return for behavior consistency.

Signed-off-by: Hunter Song <hsong@macleanengineering.com>

* Revised test name

Signed-off-by: Hunter Song <hsong@macleanengineering.com>

---------

Signed-off-by: Hunter Song <hsong@macleanengineering.com>

Adding context to MPPI readme

Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>

[behavior_tree] Add generate_nav2_tree_nodes_xml (ros-navigation#4073)

* Add generate_nav2_tree_nodes_xml

Signed-off-by: Davide Faconti <davide.faconti@gmail.com>

* behavior_tree: removed list of plugins from yaml

Signed-off-by: Davide Faconti <davide.faconti@gmail.com>

* check result of get_parameter(plugin_lib_names)

Signed-off-by: Davide Faconti <davide.faconti@gmail.com>

* fix previous commit (uncrustify)

Signed-off-by: Davide Faconti <davide.faconti@gmail.com>

* revert change

Signed-off-by: Davide Faconti <davide.faconti@gmail.com>

---------

Signed-off-by: Davide Faconti <davide.faconti@gmail.com>

Fix compilation with clang (ros-navigation#4131)

Signed-off-by: Ramon Wijnands <ramon.wijnands@nobleo.nl>

code improvement based on feedback. Name changes and minor code improvement

Signed-off-by: stevedan <stevedan.o.omodolor@gmail.com>

Fix goal handle was not freed correctly (ros-navigation#4137)

* Fix goal handle was not freed correctly

* Update nav2_util/include/nav2_util/simple_action_server.hpp

Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>

---------

Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
Co-authored-by: Ziohang <hang.zhou@agvsz.com>
Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>

Adding Nvidia as Gold Sponsor! (ros-navigation#4144)

Prevent a possible segmentation fault (ros-navigation#4141) (ros-navigation#4147)

* Prevent a possible segmentation fault

Signed-off-by: Joni Pöllänen <joni.pollanen@karelics.fi>

* Cleanup

Signed-off-by: Joni Pöllänen <joni.pollanen@karelics.fi>

---------

Signed-off-by: Joni Pöllänen <joni.pollanen@karelics.fi>

Updating stereolabs logo (ros-navigation#4158)

Update README.md

Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>

behavior_tree: migration to BT.CPP 4.5.x (ros-navigation#4128)

* behavior_tree: migration to BT.CPP 4.5.x

Signed-off-by: Davide Faconti <davide.faconti@gmail.com>

* fix formatting

Signed-off-by: Davide Faconti <davide.faconti@gmail.com>

* fix lint warning

Signed-off-by: Davide Faconti <davide.faconti@gmail.com>

* remove setStatus(BT::NodeStatus::IDLE)

Signed-off-by: Davide Faconti <davide.faconti@gmail.com>

* handle SKIPPED state

Signed-off-by: Davide Faconti <davide.faconti@gmail.com>

* fix SequenceStar

Signed-off-by: Davide Faconti <davide.faconti@gmail.com>

* add tests

Signed-off-by: Davide Faconti <davide.faconti@gmail.com>

* fix

Signed-off-by: Davide Faconti <davide.faconti@gmail.com>

* fix unit tests

Signed-off-by: Davide Faconti <davide.faconti@gmail.com>

* add emitWakeUpSignal()

Signed-off-by: Davide Faconti <davide.faconti@gmail.com>

* fit test

Signed-off-by: Davide Faconti <davide.faconti@gmail.com>

* fix

Signed-off-by: Davide Faconti <davide.faconti@gmail.com>

* remove SequenceStar

Signed-off-by: Davide Faconti <davide.faconti@gmail.com>

* remove SequenceStar

Signed-off-by: Davide Faconti <davide.faconti@gmail.com>

* keep resetStatus() in action_node

Signed-off-by: Davide Faconti <davide.faconti@gmail.com>

* add suggestions from peer reviewer

Signed-off-by: Davide Faconti <davide.faconti@gmail.com>

* fix compilation

Signed-off-by: Davide Faconti <davide.faconti@gmail.com>

---------

Signed-off-by: Davide Faconti <davide.faconti@gmail.com>

bug fix (ros-navigation#4160)

Signed-off-by: Tianchu <tianchu.zhang0706@gmail.com>

Stop planner if the goal is cancelled (ros-navigation#4148)

* Add support for stopping planners when the action is cancelled

Signed-off-by: Kemal Bektas <kemal.bektas@node-robotics.com>

* Support cancel in Smac planner

Signed-off-by: Kemal Bektas <kemal.bektas@node-robotics.com>

* Support cancel in Theta* planner

Signed-off-by: Kemal Bektas <kemal.bektas@node-robotics.com>

* Support cancel in Navfn planner

Signed-off-by: Kemal Bektas <kemal.bektas@node-robotics.com>

* Update nav2_system_tests to use cancel checker

Signed-off-by: Kemal Bektas <kemal.bektas@node-robotics.com>

* Add terminal_checking_interval parameter

Signed-off-by: Kemal Bektas <kemal.bektas@node-robotics.com>

* Handle timeout and cancel check on the same branch and default to 5000 iterations

Signed-off-by: Kemal Bektas <kemal.bektas@node-robotics.com>

* Add system tests for cancel

Signed-off-by: Kemal Bektas <kemal.bektas@node-robotics.com>

---------

Signed-off-by: Kemal Bektas <kemal.bektas@node-robotics.com>
Co-authored-by: Kemal Bektas <kemal.bektas@node-robotics.com>

Improvement on the wat the distance heuristic is calculated

Signed-off-by: stevedan <stevedan.o.omodolor@gmail.com>

Fix BT.CPP import (ros-navigation#4165)

Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>

Update default recommendation from Obstacles to Cost critic in MPPI (ros-navigation#4170)

Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>

nav2_controller: add loop rate log (ros-navigation#4171)

* update smac_planner README

Signed-off-by: ARK3r <kermani.areza@gmail.com>

* added current controller loop rate logging

Signed-off-by: ARK3r <kermani.areza@gmail.com>

* linting

Signed-off-by: ARK3r <kermani.areza@gmail.com>

* uncrustify lint

Signed-off-by: ARK3r <kermani.areza@gmail.com>

* Update nav2_controller/src/controller_server.cpp

Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>

* Update nav2_controller/src/controller_server.cpp

Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>

* Update nav2_controller/src/controller_server.cpp

Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>

---------

Signed-off-by: ARK3r <kermani.areza@gmail.com>
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>

improvement based on feedback

Signed-off-by: stevedan <stevedan.o.omodolor@gmail.com>
enricosutera pushed a commit to enricosutera/navigation2 that referenced this issue May 19, 2024
@alanxuefei @enricosutera
Refactors possible_inscribed_cost to possible_circumscribed_cost …
034b833 
…in collision checker for smac_planner and mppi_controller (ros-navigation#4113). (ros-navigation#4118)

* Utilizes circumscribed radius to assess potential collision points on the robot.
* Ensures safety when the robot's center is outside the circumscribed radius, eliminating additional checks and optimizing CPU usage.
Signed-off-by: Alan Xue <alan.xuefei@googlemail.com>
Signed-off-by: enricosutera <enricosutera@outlook.com>
Marc-Morcos pushed a commit to Marc-Morcos/navigation2 that referenced this issue Jul 4, 2024
@alanxuefei @Marc-Morcos
Refactors possible_inscribed_cost to possible_circumscribed_cost …
c130d5a 
…in collision checker for smac_planner and mppi_controller (ros-navigation#4113). (ros-navigation#4118)

* Utilizes circumscribed radius to assess potential collision points on the robot.
* Ensures safety when the robot's center is outside the circumscribed radius, eliminating additional checks and optimizing CPU usage.
Signed-off-by: Alan Xue <alan.xuefei@googlemail.com>
jplapp pushed a commit to logivations/navigation2 that referenced this issue Nov 11, 2024
@alanxuefei @jplapp
Refactors possible_inscribed_cost to possible_circumscribed_cost …
6707a11 
…in collision checker for smac_planner and mppi_controller (ros-navigation#4113). (ros-navigation#4118)

* Utilizes circumscribed radius to assess potential collision points on the robot.
* Ensures safety when the robot's center is outside the circumscribed radius, eliminating additional checks and optimizing CPU usage.
Signed-off-by: Alan Xue <alan.xuefei@googlemail.com>
(cherry picked from commit bc242b6)
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@alanxuefei @SteveMacenski