Added collision avoidance to MoveGlobal routine

2025-05-05 01:34:53 +02:00
parent a160af8de3
commit ccfd1189c2
30 changed files with 792 additions and 33 deletions
--- a/mg_navigation/include/path_buffer.hpp
+++ b/mg_navigation/include/path_buffer.hpp
@ -28,7 +28,7 @@ namespace mg {
        return glm::vec2{ grid.x, grid.y } * glm::vec2{ GRID_X_SIZE, GRID_Y_SIZE } + glm::vec2{ MIN_X, MIN_Y };
    }
    inline glm::ivec2 IdToGrid(const int id) { return { id % GRID_X, id / GRID_X }; }
-    inline glm::vec2  IdToCoords(const int id) { return GridToCoords(IdToGrid(id)); }
+    inline glm::vec2  IdToCoords(const int id) { return GridToCoords(IdToGrid(id)) / 1000.0F; }

    class PathBuffer {
        using PathService = mg_msgs::srv::CalcPath;