fix(global_planner): keep returned plans out of blocked cells - #117
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fix(global_planner): keep returned plans out of blocked cells#117akela1101 wants to merge 1 commit into
akela1101 wants to merge 1 commit into
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Co-Authored-By: Claude Fable 5 <[email protected]>
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GradientPath's interpolated traceback can emit plan poses inside cells at or above lethal_cost (e.g. the inscribed ring around an obstacle) even though the wavefront never expanded them, so get_path returns SUCCESS for a plan the controller can only refuse and the robot loops on replans. After extracting the plan, snap such poses to the nearest traversable neighbor holding a finite potential, drop duplicates created by snapping, and return NO_PATH_FOUND when a pose has no such neighbor. The start pose and poses within the goal tolerance keep the existing BLOCKED_START/BLOCKED_GOAL semantics.