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Path Planning: For Real This Time™️#71

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S1ink merged 8 commits into
mainfrom
path_planning_fr
Jan 17, 2026
Merged

Path Planning: For Real This Time™️#71
S1ink merged 8 commits into
mainfrom
path_planning_fr

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@S1ink S1ink commented Jan 16, 2026

Its bigger, its badder, its uglier - and it actually might work

  • Added post-traversibility map accumulation, ft. exploration octree
  • Reworked path planning to utilize accumulated map, added path caching and replan algorithm

closes #52
closes #59
closes #60

@S1ink S1ink requested a review from connortynan January 16, 2026 03:50
@S1ink S1ink changed the title Path planning: For Real This Time™️ Path Planning: For Real This Time™️ Jan 16, 2026
@S1ink S1ink removed the request for review from connortynan January 17, 2026 23:28
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S1ink commented Jan 17, 2026

May need more work in the future but good enough for now so merging this

@S1ink S1ink merged commit e4294ce into main Jan 17, 2026
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@S1ink S1ink deleted the path_planning_fr branch January 17, 2026 23:31
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Make Path Planning Work FR Path Planning: Add temporary map accumulation Path Planning: Handle temporal smoothing

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