Fix ompl use of simplify #559
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Codecov ReportAll modified and coverable lines are covered by tests ✅
Additional details and impacted files@@ Coverage Diff @@
## master #559 +/- ##
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Coverage 77.83% 77.83%
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Files 250 250
Lines 13099 13100 +1
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+ Hits 10196 10197 +1
Misses 2903 2903 |
Levi-Armstrong
merged commit 99f8b97
into
tesseract-robotics:master
12 of 17 checks passed
marrts
reviewed
Jan 2, 2025
| // Now try to simplify the trajectory to get it under the requested number of output states | ||
| // The interpolate function only executes if the current number of states is less than the requested | ||
| if (!solver_config.simplify) | ||
| simple_setup.simplifySolution(); |
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Why are we calling simplify if the user said they did not want to simplify?
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The original implementation was to try and get the number of states back to the number of interpolation states, though I see your point and okay with removing this here. I will create a PR removing it.
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