Add missing path compression option in A* planner #120
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Actually, on second thought, I'm gonna be difficult here :)
Can you add unit tests for the A-star planner, including a test that checks whether path compression shortens the overall path length? There already is something you can borrow in the test/navigation/test_rrt.py file.
Haha, sure ! |
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The mechanism to compress the A* path was missing in the implementation.