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added 3 new CHOMP parameters in chomp_planning.yaml file #10

merged 1 commit into from Oct 18, 2018


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raghavendersahdev commented Aug 9, 2018

Added 3 new CHOMP Parameters

This PR is a work done by Raghavender as a part of 2018 Google summer of code. As a part of this PR, 3 new parameters are added to enhance CHOMP functionality.

  • enable_failure_recovery: if enabled, in case of an initial failure to find plan, CHOMP re-tries to Plan with updated parameters in hope to find a solution.
  • max_recovery_attempts: maximum number of attempts parameters can be changed to find a solution.
  • trajectory_initialization_method: initialization method of the trajectory.

@davetcoleman davetcoleman changed the base branch from master to kinetic-devel Oct 18, 2018

@davetcoleman davetcoleman merged commit 8e8b634 into ros-planning:kinetic-devel Oct 18, 2018

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