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burgetf / nao_wholebody_planning

Extended RRT-CONNECT Algorithm for Whole-body Motion Planning
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why we need such a checker when connect tree #3

Open wanglei-linx opened 5 years ago

wanglei-linx commented 5 years ago

//If the cart_hand_pose_index of the q_near node in the start tree is bigger than the //cart_hand_pose_index of the last node q_connect of the goal tree if (articulation_constraintactive == true && tree.name == "start_tree" && q_near.cart_hand_pose_index > q_connect.cart_hand_pose_index) return TRAPPED; //If the cart_hand_pose_index of the q_near node in the goal tree is smaller than the //cart_hand_pose_index of the last node q_connect of the start tree if (articulation_constraintactive == true && tree.name == "goal_tree" && q_near.cart_hand_pose_index < q_connect.cart_hand_pose_index) return TRAPPED;