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humanoid-path-planner / hpp-rbprm

"Implementation of RB-PRM planner using hpp."
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com-rrt : com constraint not working #46

Open pFernbach opened 5 years ago

pFernbach commented 5 years ago

The method CreateComConstraint called during the execution of com-rrt doesn't seems to work. It looks like the target for the CoM position is always (0,0,0). I will try to investigate a little more and edit this issue.

See commit https://github.com/humanoid-path-planner/hpp-rbprm/pull/45/commits/9bf49d7e9893e8c98a50f86e02bb7b81cb10b3bd that disable this constraint (temporary commit to make the com-rrt work).

pFernbach commented 4 years ago

I tried to update this, see branch https://github.com/pFernbach/hpp-rbprm/tree/topic/com_constraint

The issue mentioned above is fixed, but the constraints seems to be ignored now, or at least there is a really large error along the path. (see the new unit test).

A lot of code about the time-dependant constraint should be removed to use the new features in hpp::core::Path before trying to investigate more on this problem.