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Feature/clearance #3

Merged
merged 7 commits into from
Dec 23, 2023
Merged

Feature/clearance #3

merged 7 commits into from
Dec 23, 2023

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Alpaca-zip
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PR Type

  • Feature
  • Bug fix
  • Refactor
  • Documentation
  • Other

Overview

  • Improved readability of functions.
  • Modified to extract images and their resolution from yaml file.
  • Add clearance functionality for robots to pass through.

Detail

Add clearance functionality for robots to pass through.

If a clearance parameter is given, the calculated path will have a clearance from the wall of at least this parameter.

Modified to extract images and their resolution from yaml file.

If the use_origin parameter is set to True, the origin of the yaml file is set to the starting point of the path planning.

Test

  • I have tested this change with sample occupancy grid map.

@Alpaca-zip Alpaca-zip added the enhancement New feature or request label Dec 23, 2023
@Alpaca-zip Alpaca-zip self-assigned this Dec 23, 2023
@Alpaca-zip Alpaca-zip merged commit b25739b into main Dec 23, 2023
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@Alpaca-zip Alpaca-zip deleted the feature/clearance branch December 23, 2023 07:03
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