Use constraint distance instead of bool validity in STOMP cost function #2418
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Codecov ReportAll modified lines are covered by tests ✅
Additional details and impacted files@@ Coverage Diff @@
## main #2418 +/- ##
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- Coverage 50.87% 50.47% -0.40%
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Files 386 385 -1
Lines 31983 31829 -154
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- Hits 16269 16062 -207
- Misses 15714 15767 +53 ☔ View full report in Codecov by Sentry. |
sjahr
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Oct 11, 2023
henningkayser
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Jakubivan
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Mar 13, 2024
…on (backport moveit#2418) (moveit#2476) * Use constraint distance instead of bool validity in STOMP cost function * Fix comment (cherry picked from commit c19d2aa) Co-authored-by: Henning Kayser <henningkayser@picknik.ai>
Jakubivan
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to Jakubivan/moveit2
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Mar 13, 2024
…on (backport moveit#2418) (moveit#2476) * Use constraint distance instead of bool validity in STOMP cost function * Fix comment (cherry picked from commit c19d2aa) Co-authored-by: Henning Kayser <henningkayser@picknik.ai>
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This enables STOMP to optimize on the more precise distance gradient of a constraint set instead of the very imprecise const penalty.