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[AMR] Fix typos, improve space usage some more

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janishutz
2026-08-01 11:31:44 +02:00
parent 55030a0d0a
commit c80452f383
8 changed files with 15 additions and 14 deletions
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electives/amr/parts/05_planning-control/01_motion-planning-exploration/02_rrt.tex
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@@ -34,7 +34,7 @@ Extension to RRT* to make path better:
\State $x_{\min} \gets$ \Call{neighbours}{Graph, $x_f$, $R$}
\State $c_{\min} \gets$ \Call{cost}{$x_n$} + \Call{edgeCost}{$x_n, x_f$}
\For{each $x_{\text{near}}$ in $X_\text{near}$}
\If{\Call{edgeCollisionFree}{$x_\text{near}, x_f$} and \Call{cost}{$x_\text{near}$} + \Call{edgeCost}{$x_\text{near}, x_f$} $< c_{\min}$}
\If{\Call{edgeCollisionFree}{$x_\text{near}, x_f$} and\\ \Call{cost}{$x_\text{near}$} + \Call{edgeCost}{$x_\text{near}, x_f$} $< c_{\min}$}
\State \Call{insertEdge}{\texttt{Graph}, $x_f, x_{\text{near}}$}
\State $x_\text{parent} \gets$ \Call{parent}{\texttt{Graph}, $x_{\text{near}}$}
\State \Call{removeEdge}{\texttt{Graph}, $x_\text{parent}, x_{\text{near}}$}