Fix/path smoothing robot radius #1231
Open
+107
−27
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Reference issue
Fixes path smoothing safety issue discussed in Bug: path_smoothing() Ignores robot_radius, Causing Smoothed Paths to Violate Obstacle Clearance #1230
What does this implement/fix?
This PR fixes an issue in the
path_smoothing()
function, where the collision checking vialine_collision_check()
did not takerobot_radius
into account correctly. This caused the smoothed path to pass dangerously close to obstacles.line_collision_check()
to check collision along finite-length line segments and incorporaterobot_radius
.path_smoothing()
logic to use this corrected check.Additional information
CheckList