Comments (1)
SteveMacenski
commented on August 27, 2024
It is only computed once at initialization, however if you modify really fundamental parameters to the core of the algorithms, it requires a re-initialization to prop all the new states in the costmap and planners.
Looking over things, a special case could be made for that particular operation though to not pre-compute on multiple initializations. For instance, we could have a parameter that is is_initialized & tracks the initialized state of the A* object and won't recompute it if its been computed once. That should be an easy contribution back to the stack, @mizdan! Can you submit a PR?
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