Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Fix ompl so it only simplifies when requested #562

Merged
merged 3 commits into from
Jan 3, 2025
Merged

Fix ompl so it only simplifies when requested #562

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
3 commits
Select commit Hold shift + click to select a range
76e2bc5
Fix ompl so it only simplifies when requested
Levi-Armstrong Jan 3, 2025
c975f4d
fixup
Levi-Armstrong Jan 3, 2025
f73709b
fixup
Levi-Armstrong Jan 3, 2025
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
14 changes: 1 addition & 13 deletions tesseract_motion_planners/ompl/src/ompl_motion_planner.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -181,21 +181,9 @@ std::pair<bool, std::string> parallelPlan(ompl::geometric::SimpleSetup& simple_s
if (solver_config.simplify)
simple_setup.simplifySolution();

// Interpolate the path if it shouldn't be simplified and there are currently fewer states than requested
// Interpolate the path if there are currently fewer states than requested
if (simple_setup.getSolutionPath().getStateCount() < num_output_states)
{
simple_setup.getSolutionPath().interpolate(num_output_states);
}
else
{
// 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();

if (simple_setup.getSolutionPath().getStateCount() < num_output_states)
simple_setup.getSolutionPath().interpolate(num_output_states);
}

return std::make_pair(true, "SUCCESS");
}
Expand Down
6 changes: 3 additions & 3 deletions tesseract_motion_planners/ompl/test/ompl_planner_tests.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -224,8 +224,8 @@ TYPED_TEST(OMPLTestFixture, OMPLFreespacePlannerUnit) // NOLINT
}

EXPECT_TRUE(&planner_response);
EXPECT_EQ(planner_response.results.getMoveInstructionCount(), 21); // 10 per segment + start a instruction
EXPECT_EQ(planner_response.results.size(), 21);
EXPECT_GE(planner_response.results.getMoveInstructionCount(), 21); // 10 per segment + start a instruction
EXPECT_GE(planner_response.results.size(), 21);
EXPECT_TRUE(wp1.getPosition().isApprox(
getJointPosition(planner_response.results.getFirstMoveInstruction()->getWaypoint()), 1e-5));

Expand Down Expand Up @@ -479,7 +479,7 @@ TYPED_TEST(OMPLTestFixture, OMPLFreespaceCartesianStartPlannerUnit) // NOLINT
}

EXPECT_TRUE(&planner_response);
EXPECT_EQ(planner_response.results.getMoveInstructionCount(), 11);
EXPECT_GE(planner_response.results.getMoveInstructionCount(), 11);
EXPECT_TRUE(wp2.getPosition().isApprox(
getJointPosition(planner_response.results.getLastMoveInstruction()->getWaypoint()), 1e-5));

Expand Down
Loading