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moveit / moveit_ikfast

THIS REPO HAS MOVED TO https://github.com/ros-planning/moveit
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Document search for cheapest solution #41

Open davetcoleman opened 9 years ago

davetcoleman commented 9 years ago

@nalt can you add a small bit of documentation about this new option you've added and how to turn it on? it should go on this page: http://docs.ros.org/hydro/api/moveit_ikfast/html/doc/ikfast_tutorial.html which you can edit here: https://github.com/ros-planning/moveit_ikfast/blob/indigo-devel/doc/ikfast_tutorial.rst

Also, in indigo-devel did you set the option to be enabled by default? Can we do that please?

Thanks!

gavanderhoorn commented 9 years ago

Also, in indigo-devel did you set the option to be enabled by default? Can we do that please?

I was planning to do that after we changed the repository branch structure. I'll do it now.

gavanderhoorn commented 9 years ago 
[..]
search_modes = ['OPTIMIZE_MAX_JOINT', 'OPTIMIZE_FREE_JOINT' ]

[..]

elif len(sys.argv) == 5:
   search_mode = search_modes[0];
   print "Warning: The default search has changed from OPTIMIZE_FREE_JOINT to now %s!" % (search_mode)
   ikfast_output_file = sys.argv[4]

[..]

Right. So if I understand things correctly, both hydro-devel and indigo-devel have the search optimisation currently as their default. Is that correct, @nalt?

davetcoleman commented 9 years ago

Oh, I didn't realize that was what was merged in. If that is the case, we should revert hydro back to not having it on by default IMHO.

gavanderhoorn commented 9 years ago

@nalt: friendly ping?