fix: improve orca reliability, less deadlocks #200
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WilliamTakeshi
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Codecov Report❌ Patch coverage is
Additional details and impacted files@@ Coverage Diff @@
## main #200 +/- ##
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+ Coverage 79.27% 80.81% +1.53%
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Files 21 25 +4
Lines 2157 2533 +376
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+ Hits 1710 2047 +337
- Misses 447 486 +39 ☔ View full report in Codecov by Sentry. 🚀 New features to boost your workflow:
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Thanks! I don't fully understand the code, so I trust it's good :) |
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This PR improves ORCA a bit.
Before since we used the same for time_horizon and time_step where the same, sometimes the bot got stuck.
Time_horizon should be how long the bot is looking forward to avoid collisions,
timestep is the simulator DT