Fix zig-zaggin in smac planner due to discrete angular bin quantizations#3752

Merged

SteveMacenski merged 16 commits intomainfrom

Sep 6, 2023

Commits on Aug 9, 2023

adding intial prototype for smac hybrid-A* multiple primitives quantization interpolation
SteveMacenski
committed

Commits on Aug 11, 2023

adding a theoretical guardrail
SteveMacenski
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Commits on Aug 14, 2023

updating Hybrid-A* to include directional information in the primitives for enabling multi-primitive planning & accurate traversal cost functions
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moving Hybrid-A* specifics to template specialization
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expand support for debug visualizations to State Lattice and 2D A*'s
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Commits on Aug 15, 2023

Commits on Aug 18, 2023

minor changes
SteveMacenski
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Commits on Aug 28, 2023

adding options for downsampling obstacle heurisic and for using quadratic cost penalty functions
SteveMacenski
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Commits on Aug 30, 2023

fixing unit tests
SteveMacenski
committed