Maybe a bug in void Mader::updateTrajObstacles(mt::dynTraj traj) with mader.cpp

[ExplorerFzw]

[ExplorerFzw]

Dear author, recently I have been studying your paper and code on Mader. I am having trouble understanding the following code snippet, and therefore I would like to pose a question to you.

`
mt::dynTrajCompiled traj_compiled;
dynTraj2dynTrajCompiled(traj, traj_compiled);

if (exists_in_local_map)
{ // if that object already exists, substitute its trajectory
*obs_ptr = traj_compiled;
}
else
{
trajs_.push_back(traj_compiled);
}
std::vector ids_to_remove;

for (int index_traj = 0; index_traj < trajs_.size(); index_traj++)
{
// bool traj_affects_me = false;

mtx_t_.lock();
t_ = ros::Time::now().toSec();

Eigen::Vector3d center_obs;
mtx_t_.unlock();

if (((traj_compiled.is_static == true) && (center_obs - state_.pos).norm() > 2 * par_.Ra) ||  ////
    ((traj_compiled.is_static == false) && (center_obs - state_.pos).norm() > 4 * par_.Ra))
{
  ids_to_remove.push_back(trajs_[index_traj].id);
}

}
`

Since the obtained trajectory is that of other agents or dynamic obstacles, why is the trajectory trajs_[index_traj] processed by determining whether traj_compiled is a static or dynamic obstacle? My understanding is that we should consider the dynamic information of the trajs_[index_traj] trajectory, as well as its relative distance to the current agent, to decide whether to remove the obstacle. I’m not sure if my understanding is correct, and I look forward to your reply. Thank you for your excellent work.