Limitation #21
Description
I find that there is no limitation to my curvature, making useless of Maxcurvature in Hyperparams.
Then I focus on the function : is_valid_path. Is the code following here no problem?
###########################################################
if (any_of(s_d.begin(), s_d.end(),
[this](int i){return abs(i) > fot_hp->max_speed;})) {
return false;
}
// max accel check
else if (any_of(s_dd.begin(), s_dd.end(),
[this](int i){return abs(i) > fot_hp->max_accel;})) {
return false;
}
// max curvature check
else if (any_of(c.begin(), c.end(),
[this](int i){return abs(i) > fot_hp->max_curvature;})) {
return false;
}