Whether the current code can handle the dynamic objects?

[lukewenMX]

Hi, when I look over the code, especially the <pickup_trajectory> function, I just notice that when picking up the optimum trajectory from the candidates, the cost function only considers the <direction difference, goal distance & difference between the consecutive trajectories>, no immediate obstacle distance. It should be fine for a static obstacle, but may fail dealing with the moving ones. Any suggestions or ideas to impove the performance of this planner in dymamic environment.