Termination condition for shortest path search max_dist is a distance such that as soon as we see a cell with greater than this distance, we stop. Note that, confusingly, max_dist is in cells though shortest path returns meters by default. Currently, we warn if use_cells is set to true below. In future (H-turtle), this api will actually change to only allow meters. goals is a set such that once we've expanded all the cells in this set, we stop

occupancy_grid_utils
Author(s): Bhaskara Marthi
autogenerated on Thu Dec 12 2013 13:17:54