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[global_planner] tolerance implementation #1041

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@doisyg doisyg commented Oct 16, 2020

Implementation of the tolerance param which was never used.
See #262, #703 and #1040

First naive and not so optimized implementation which checks validity using calculatePotentials after filtering out lethal cells (so potentially CPU heavy for large tolerance).
Alternatively, a check for the cells value could be used without using calculatePotentials, or also filtering inscribed or even circumscribed cells. I am up for the debate.

@doisyg doisyg changed the title Global planner tolerance implementation [global_planner] tolerance implementation Oct 16, 2020
@mikeferguson mikeferguson requested a review from DLu October 20, 2020 18:50
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Hi, could we please have these changes in ROS Melodic as well? It will be really helpful, thanks.

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