Fix A* star selection logic #22
Open
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Schmluk
approved these changes
Mar 18, 2021
| g_score_map[current_vertex_id] = | ||
| (t_odom_current_vertex - start_point).norm(); | ||
| f_score_map[current_vertex_id] = | ||
| (goal_point - t_odom_current_vertex).norm(); | ||
| f_score_map[current_vertex_id] = h_score; |
There was a problem hiding this comment.
Is this intentionally called h_score and then assigned to the f_score_map? I'm not too familiar with the terminology but might lead to confusions.
There was a problem hiding this comment.
Strictly speaking, the update equation here should be f[neighbor] = g[neighbor] + h[neighbor]. The code above only initializes the starting vertices and will result in all of them being expanded before any regular vertex, so it won't affect the result. But I agree it's confusing and there's no advantage of not using the standard update equation.
In general, this whole getPathBetweenVertices(...) method grew organically and got quite messy. I'll do some refactoring.
…ludes Automatically order includes with clang-format
Update the GLocal ArXiv link to the right paper
Update README.md
Update README.md
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
This PR fixes A*'s best-path selection comparison, which was wrongly inverted.
Unsurprisingly this significantly improves performance, especially when the linked skeleton graph becomes large.
This bug also affects
mav_voxblox_planningand the other packages in our stack that are derived from it. Corresponding PRs will be opened there.