Question on Alignment cost & GoalFrontCost

asked 2018-04-09 02:48:51 -0500

xiaoyuanzh gravatar image

What do these 2 costs really mean in DWA? According to the code:

If use alignment cost & goalFrontCost. they will return a trajectory, but I think this trajectory makes no sense, because goalcost and target cost keep negative? So What is usage of these 2 costs?

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