Francisco Moretti c1ba9bab0a fix check segment intersection with obstacle ...

The previous method only worked because the step that checked collision
from a point of the line to obstacles was the same as the minimum
obstacle radius. If the obstacle radius is very small a great amount of
steps would be required.
Thus It's better to check the distance from the segment to the obstacles
directly and compare with obstacle radius
Now there is no need to have two check functions.

2019-10-17 09:09:54 -03:00

..

informed_rrt_star.py

fix check segment intersection with obstacle

2019-10-17 09:09:54 -03:00