Steering angle cost

[farhadnawaz]

In this line, shouldn't the cost be abs(motionCommand[0])? It seems like, you are penalizing only the positive steerings and that negative steering is actually advantageous. Any specific reason for this cost?

I tried abs(motionCommand[0]), but the path length of the Hybrid A* path is greater when compared to just using motionCommand[0]. Do you have an explanation for this behavior?

Thanks in advance!