search

CentroEPiaggio / primitives

Primitive library for loco-manipulation tasks
0 stars 0 forks source link

Nearby vertices #14

Closed corradopav closed 9 years ago

corradopav commented 9 years ago

If a point is sampled inside a region where no neighbors are present (or the bubble radius is too small), the localRRT* does not insert it into the tree, for, if the Near-by Vertices set is empty, the algorithm returns without proceeding further with the successive steps of the RRT* (see lines 7-11 of Algorithm 1 in "Anytime Motion Planning using the RRT*")

DaniloCaporale commented 9 years ago

Should be fixed in commit 7af54e90e1a0da1a14a3a292a957d33b733b43de. Now if Znear is empty it just uses zmin=znearest.