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question about ScanMatcher::score #15
Description
in this function ,to caculate pfree,there are
double freeDelta=map.getDelta()*m_freeCellRatio;and
pfree.x+=(*r-map.getDelta()*freeDelta)*cos(lp.theta+*angle); pfree.y+=(*r-map.getDelta()*freeDelta)*sin(lp.theta+*angle);;
obviously r - delta^2sqrt(2) (freeDelta = sqrt(2))
i think r - deltasqart(2) can show the range of pfree ,but the equation above i don't know its mean.
Activity
lmy19880626 commentedon May 9, 2017
me too! I need the explanation.
KOTOKORURU commentedon Mar 9, 2018
I have the same question ,have you sloved it？
1344618323 commentedon Aug 10, 2019
me too! I think there's a bug!
topin89 commentedon Nov 3, 2019
I think this is a bug that was shadowed by another bug, #25
making everything about
pfree,ipfree,pfandfcellirrelevant.And yes,
should be replaced with
With these two bugs solved, gmapping stops looking for best score inside a wall.
topin89 commentedon Nov 3, 2019
Oh, there is a PR to fix that: #10