Out of map point when computing hPolys.

[Chortine]

Hi Team,

I found out that when computing the hPolys for fine optimization, the case that point is out of map is allowed, and sometimes cause the final global path out of the map.

Shouldn't here be map_ptr_->getVoxelState2d(tmp) != 0 to filter out the out of map points?

Car-like-Robotic-swarm/src/Minco/traj_planner/src/kino_astar.cpp

Line 260 in eabbf7c

if(map_ptr_->getVoxelState2d(tmp) == 1)

[Leon-Redfield]

Yes you are right, it would be better if there is a filter to filter the out of map points