Feat/astar rewrite #4
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also harder to read might rewrite it again just because
Dylan ain't gonna like all the comments I added tho if I said I knew how this worked I'd be lying
no idea if it works or not
it doesn't build yet tho cause errors, but it at least gets to the compilation step instead of dying at the cmakelists step
astar.cpp is more fleshed out, still missing the actual main search() function and the constructor and like all the actual ROS node stuff
doesn't work yet (obviously) and the performance is lousy just looking at it Noah probably knows some ways to make it better or something
no idea if I did it right
or, at least, kind of
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oh wait it runs CI for draft? Imma close this so I don't burn all our minutes of GitHub Actions or whatever |
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astar in C++ for moar sped especially using dual cameras because that doubles our occupancy grid size.