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Prevent analytic expansions from shortcutting Smac Planner feasible p…
…aths (ros-navigation#3962) * a potential solution to smac shortcutting * costmap reoslution * some fixes * completed prototype * some fixes for collision detection and performance * completing shortcutting fix * updating tests * adding readme --------- Signed-off-by: Steve Macenski <[email protected]> (cherry picked from commit e2781e5)
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