Is path valid doc (#4032)

* docs Signed-off-by: gg <[email protected]> * update Signed-off-by: gg <[email protected]> --------- Signed-off-by: gg <[email protected]>
ros-navigation · Jan 4, 2024 · 305f7e0 · 305f7e0
1 parent 7647ba7
commit 305f7e0
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/nav2_planner/src/planner_server.cpp b/nav2_planner/src/planner_server.cpp
@@ -644,7 +644,8 @@ void PlannerServer::isPathValid(
 
     /**
      * The lethal check starts at the closest point to avoid points that have already been passed
-     * and may have become occupied
+     * and may have become occupied. The method for collision detection is based on the shape of 
+     * the footprint. 
      */
     std::unique_lock<nav2_costmap_2d::Costmap2D::mutex_t> lock(*(costmap_->getMutex()));
     unsigned int mx = 0;