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Fix ompl so it only simplifies when requested #562

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merged 3 commits into from
Jan 3, 2025
Merged

Fix ompl so it only simplifies when requested #562

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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
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14 changes: 1 addition & 13 deletions tesseract_motion_planners/ompl/src/ompl_motion_planner.cpp
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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 there are currently fewer states than requested
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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");
}
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