how to compute the edgDst and edgVct in voronoiTerm?

[LawranceXcl]

No description provided.

[LawranceXcl]

Because if the voronoiTerm is commented, the path is so close to obstacles.So I want to see the effect of the voronoiTerm.

[teddyluo]

please adjust the weight value to a non-zero value (default: 0)

[zwkcoding]

Because if the voronoiTerm is commented, the path is so close to obstacles.So I want to see the effect of the voronoiTerm.

in these implement, voronoiTerm is used for smoothing traj.
about your question, ref to

hybrid-a-star-annotation/src/smoother.cpp

Line 149 in ddbbc70

// //obsDist = voronoiDiagram.getDistance(node->getX(),node->getY())

I wish it help you, it's calculated from dynamic voronio lib.