Currently, `trace_path_on_chart()` (in `include/geometry.h`) uses a greedy approach by picking as next edge the most aligned with the target direction. Dijkstra's algorithm would be more robust and allow to take curvature and sharp edges into account.
Currently,
trace_path_on_chart()(ininclude/geometry.h) uses a greedy approach by picking as next edge the most aligned with the target direction.Dijkstra's algorithm would be more robust and allow to take curvature and sharp edges into account.