Fix penalty-based cost function in STOMP #2625
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This was referenced Dec 20, 2023
Codecov ReportAttention:
Additional details and impacted files@@ Coverage Diff @@
## main #2625 +/- ##
==========================================
+ Coverage 50.91% 50.92% +0.02%
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Files 387 391 +4
Lines 32430 32590 +160
==========================================
+ Hits 16507 16592 +85
- Misses 15923 15998 +75 ☔ View full report in Codecov by Sentry. |
This adds several test cases for STOMP's noise generation and cost functions, and provides the following fixes: * out-of-bounds vector access when tail states of trajectory are invalid * smoothed costs overriding values of previous invalid groups * missing validity check of last state in trajectory * inability to disable cost function interpolation steps * total cost of trajectory not summing up to sum of state penalties * bug in Gaussian producing infinite values with invalid start states
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sjahr
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Jakubivan
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* Fix penalty-based cost function in STOMP This adds several test cases for STOMP's noise generation and cost functions, and provides the following fixes: * out-of-bounds vector access when tail states of trajectory are invalid * smoothed costs overriding values of previous invalid groups * missing validity check of last state in trajectory * inability to disable cost function interpolation steps * total cost of trajectory not summing up to sum of state penalties * bug in Gaussian producing infinite values with invalid start states * Improve documentation ---------
Jakubivan
pushed a commit
to Jakubivan/moveit2
that referenced
this pull request
Mar 13, 2024
* Fix penalty-based cost function in STOMP This adds several test cases for STOMP's noise generation and cost functions, and provides the following fixes: * out-of-bounds vector access when tail states of trajectory are invalid * smoothed costs overriding values of previous invalid groups * missing validity check of last state in trajectory * inability to disable cost function interpolation steps * total cost of trajectory not summing up to sum of state penalties * bug in Gaussian producing infinite values with invalid start states * Improve documentation ---------
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This adds several test cases for STOMP's noise generation and cost functions, and provides the following fixes:
Fixes #2462, #2554