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RussTedrake / manipulation

Course notes for MIT manipulation class
BSD 3-Clause "New" or "Revised" License
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Typo in RRT nearest node computation? #271

Closed horizon-blue closed 9 months ago

horizon-blue commented 9 months ago

Hi Robotic Manipulation course staffs, it seems like there's a small typo in the computation of nearest node in RRT on this line, where the update should be distance = child_distance instead of child_distance = child_distance.

The same typo can also be found in the RRT exercise notebook. Somehow it didn't cause an issue in there, but when we tried to adapt this RRT implementation for our project, this typo made RRT more likely to expand from the root instead of from the tree node that's actually nearest to the sampled configuration :).

RussTedrake commented 9 months ago

You're absolutely right. Thanks for catching (and reporting) that.