SMAC smoother can generate infeasible paths when using non-circular robots in very confined spaces #5330
Description
Following up on #4271 (comment)
The SMAC smoother could result in an infeasible (colliding) path. The reason is because after modifying the path, it does simple cell cost collision checking (rejects path if cell cost > MAX_NON_OBSTACLE) but does not check for potential collision of orientated footprints.