Parameterize input trajectory density of Time Optimal trajectory generation #2185
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…ectory, but its hard coded to keep waypoints with at least 0.001 radians of motion on a joint. For very long and/or dense input trajectories, the downsampled trajectory is still way too large for the iterative optimization algorithm to finish in reasonable time. I was seeing 3000 point trajectory taking ~15 seconds. This fix allows the user to set this downsampling density in minimum radians of motion between two waypoints to something else (presumably higher like 0.5 degrees [0.00875 radians]) in order to drastically improve the speed of this algorithm.
v4hn
approved these changes
Jul 3, 2020
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Congrats on getting your first MoveIt pull request merged and improving open source robotics! |
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Thanks @pbeeson . I was annoyed by that hardcoded value as well when I looked through this, but did not have a reason to make it configurable. |
v4hn
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Jul 3, 2020
…ration (moveit#2185) MoveIt wrapper to Time Optimal Trajectory Generation downsamples trajectory, but its hard coded to keep waypoints with at least 0.001 radians of motion on a joint. For very long and/or dense input trajectories, the downsampled trajectory is still way too large for the iterative optimization algorithm to finish in reasonable time. I was seeing 3000 point trajectory taking ~15 seconds. This fix allows the user to set this downsampling density in minimum radians of motion between two waypoints to something else (presumably higher like 0.5 degrees [0.00875 radians]) in order to drastically improve the speed of this algorithm. (cherry picked from commit a15551f)
v4hn
pushed a commit
to v4hn/moveit
that referenced
this pull request
Jul 3, 2020
…ration (moveit#2185) MoveIt wrapper to Time Optimal Trajectory Generation downsamples trajectory, but its hard coded to keep waypoints with at least 0.001 radians of motion on a joint. For very long and/or dense input trajectories, the downsampled trajectory is still way too large for the iterative optimization algorithm to finish in reasonable time. I was seeing 3000 point trajectory taking ~15 seconds. This fix allows the user to set this downsampling density in minimum radians of motion between two waypoints to something else (presumably higher like 0.5 degrees [0.00875 radians]) in order to drastically improve the speed of this algorithm. (cherry picked from commit a15551f)
pbeeson
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sjahr
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Jun 21, 2024
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Description
MoveIt wrapper to Time Optimal Trajectory Generation downsamples trajectory, but its hard coded to keep waypoints with at least 0.001 radians of motion on a joint. For very long and/or dense input trajectories, the downsampled trajectory is still way too large for the iterative optimization algorithm to finish in reasonable time. I was seeing 3000 point trajectory taking ~15 seconds. This fix allows the user to set this downsampling density in minimum radians of motion between two waypoints to something else (presumably higher like 0.5 degrees [0.00875 radians]) in order to drastically improve the speed of this algorithm.
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