chomp: fix potential calculation #1651
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bmagyar
suggested changes
Aug 31, 2019
| double gradient_magnitude = diff * clearence; // (diff / clearance) | ||
| potential = 0.5 * gradient_magnitude * diff; | ||
| double gradient_magnitude = diff / clearence; | ||
| return 0.5 * gradient_magnitude * diff; // 0.5 * (d - clearance)^2 / clearance |
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It may be worth referencing the formula here, I don't remember by heart if the CHOMP papers have it.
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Which formula do you want to reference? I already added the formula as a comment.
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I saw the comment. I meant if there's a good reference an interested reader could go to.
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Ah. Ok. No idea, where to find such a reference.
I just verified the formula using my mathematical common sense 😉
moveit_planners/chomp/chomp_motion_planner/include/chomp_motion_planner/chomp_optimizer.h
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rhaschke
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Aug 31, 2019
moveit_planners/chomp/chomp_motion_planner/include/chomp_motion_planner/chomp_optimizer.h
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rhaschke
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Aug 31, 2019
moveit_planners/chomp/chomp_motion_planner/include/chomp_motion_planner/chomp_optimizer.h
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bmagyar
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Aug 31, 2019
henningkayser
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Nov 21, 2019
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Fix #1650. The potential is a piecewise function as follows:
To have a smooth transition at zero, we need
double gradient_magnitude = diff / clearance;as was stated in the comment.