Enable anytime and fix benchmarks #167
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sjahr
commented
Apr 6, 2023
| type: geometric::AnytimePathShortening | ||
| shortcut: 1 # Attempt to shortcut all new solution paths | ||
| hybridize: 1 # Compute hybrid solution trajectories | ||
| max_hybrid_paths: 36 # Number of hybrid paths generated per iteration |
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@mamoll Any comment on the default configuration? Is the number of planners and max_hybrid_paths reasonable?
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OMPL's default is 24, so 36 doesn't sound that off to me https://ompl.kavrakilab.org/classompl_1_1geometric_1_1AnytimePathShortening.html#a62fbc6ffca34e3474359502a456c4497
henningkayser
approved these changes
Apr 18, 2023
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This PR does two things: