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Figure out when planning slows #22

Open jon-weisz opened 11 years ago

jon-weisz commented 11 years ago

in graspPlanningTask::plannerUpdate, the rate at which the planner is running is calculated and put in to the database under the task parameters as the third to last entry.

Figure out at what step the planner starts getting really slow.

jon-weisz commented 10 years ago

Planning appears to get slow because when it is very near contact with the object, most jumps will lead to "illegal" states. Unfortunately results are much better when the grasp is very close to the object. This means we may want to consider some less stochastic optimization, smaller step sizes, refinining the collision queries to speed up computation, or as a last resort, moving to a faster collision detection library.