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Update migration for SmacPlanner2D #192

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Merged
SteveMacenski merged 1 commit into from
Aug 2, 2021
Merged

Update migration for SmacPlanner2D #192

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1 change: 1 addition & 0 deletions migration/Galactic.rst
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Expand Up @@ -27,6 +27,7 @@ The Smac Planner was significantly improved, of both the 2D and Hybrid-A* implem
- A caching heuristic setting to enable 25hz planning rates using cached obstacle heuristic values when the goal remains the same
- Leveraging the symmetry in the dubin and reeds-sheep space to reduce cache size by 50% to increase the window size available for heuristic lookup.
- Precompute primitives at all orientation bins
- SmacPlanner2D parameters are now all reconfigurable

The tl;dr of these improvements is:
- Plans are 2-3x as fast as they were before, well under 200ms for nearly all situations, making it as fast as NavFn and Global Planner (but now kinematically feasible). Typical planning times are sub-100ms without even making use of the caching or downsampling features.
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