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Remove redundant collision checks in the Smac Planners to optimize pe…
…rformance (ros-navigation#4857) * initial prototype to resolve smac planner issue Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * fix test Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * initial prototype for coarse to fine checking for smac: incomplete Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * completed initial prototype; for testing and benchmarking now Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * fix typo Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * adding bounds checking for coarse Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * fix test Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * remove coarse to fine checks Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: RBT22 <rozgonyibalint@gmail.com>
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