The near meet check is currently written inside ighastar.cpp. It is not the search algorithm's concern.
It should be made the Environment's responsibility to implement this, as there may be different approaches to confirm the validity depending on the environment. Right now, changing that checker requires changing the ighastar code.
Also, add a comment here to explain that for the backward search, a last near-meet check is necessary to avoid the situation of accepting a trajectory who's start state can't be reached by the system.
The near meet check is currently written inside ighastar.cpp. It is not the search algorithm's concern.
It should be made the Environment's responsibility to implement this, as there may be different approaches to confirm the validity depending on the environment. Right now, changing that checker requires changing the ighastar code.
Also, add a comment here to explain that for the backward search, a last near-meet check is necessary to avoid the situation of accepting a trajectory who's start state can't be reached by the system.