New and Old obstacle association strategy
I read about the new obstacle association strategy for teb_local_planner. However I find very limited explanation about it on the site.
While understanding the difference between the two strategy, may I have a more in-depth explanation as to why the new strategy (for each teb pose, find relevant obstacle) is better then the old strategy?
I am guessing it's because the old strategy needs to compute optimistation to every single obstacles in the map which is more computational costly than only selecting those nearby the planned trajectory?