Rework wind cost function in ompl objectives#817
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AMaharaj16 wants to merge 6 commits intomainfrom
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… docstring to the new functionality.
…asses even if constant values are changed.
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The function
wind_direction_cost()inompl_objectives.pynow correctly returns 1.0 when the segment heading lies within NO_GO_ZONE radians (45 degrees) of directly upwind (0) or directly downwind (π), and applies sin80(2θ) otherwise. Also replaced old test with new fully passing test suite for this improved implementation intest_ompl_objectives.py.The wind cost function looks like this:
