Horizon reduction for resolving infeasible trajectories is not activated anymore if the global goal is already selected (to avoid oscillations due to changing final orientations)
Horizon reduction for resolving infeasible trajectories is not activated anymore if the global goal is already selected
(to avoid oscillations due to changing final orientations)

mfueller/teb_local_planner,rst-tu-dortmund/teb_local_planner,mfueller/teb_local_planner,rst-tu-dortmund/teb_local_planner