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Open set in kinodynamic astar #155
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I figured out the same problem as yours. But almost every issue is not merged, seems like they already leaved this repo. Nobody is managing this anymore I think. |
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The open set is implemented using the STL priority queue which does not support decrease key, so decreasing the g_score and changing the f_score accordingly of the node in the open set would not affect the internal order. Should we insert a new copy of the node into the open set with changed f_score?
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