Switched to L2 DOF resolution in VectorField and GreedyIk #332
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| vdc = VanDerCorputSampleGenerator | ||
| checks = GetLinearCollisionCheckPts(robot, path, | ||
| norm_order=2, | ||
| sampling_func=vdc) |
There was a problem hiding this comment.
Can you modify FollowVectorField to accept a sampling_func? The default can still be VanDerCorputSampleGenerator. This is the convention we've followed in other planners to allow the user to configure this option.
| # TODO: This will recheck the entire trajectory | ||
| # Ideally should just check the new portion of the trajectory | ||
| checks = GetLinearCollisionCheckPts(robot, path, | ||
| norm_order=norm_order, sampling_func=sampling_func) |
There was a problem hiding this comment.
Unfortunately, this isn't enough. GetLinearCollisionCheckPts retimes the trajectory internally and returns timestamps on the retimed trajectory. This means that the value of t_check below does not correspond to the original trajectory.
This change causes VectorFieldPlanner to fail a unit test about constraint deviation because the trajectory is being sampled at arbitrary (incorrect) times.
mkoval
changed the title
…ollisionCheckPts to return timings from original trajectory instead of timings from internally timed trajectory
Conflicts: src/prpy/planning/workspace.py
This was referenced Sep 11, 2016
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
This PR updates Vectorfield and GreedyIK to use L2 norm for determining collision checking resolution.