The source project of this merge request has been removed.
WIP: Modify velocity sign on HA* path by forward/backward motion
Implemented feature
!48 (closed) has been replaced by this MR due to the change of the person in charge.
Add AstarWaypoints definition to astar_search in include motion direction, "forward or backward" provided by HA* path planning.
astar_navi and astar_avoid are modified by this API to realize backward motion.
Related to #8 (closed)
Description
If the use_back option is enabled in astar_navi/avoid, you can obtain avoidance waypoints with "signed" velocity like this.
Edited by Yuma Nihei