Closed hjsuh94 closed 2 years ago
There will be a child class of irs_rrt called irs_rrt_trajopt which does trajopt at every extend step but shoot further with large step sizes (what Lu had but with the current structure)
irs_rrt
irs_rrt_trajopt
There will be a child class of
irs_rrtcalledirs_rrt_trajoptwhich does trajopt at every extend step but shoot further with large step sizes (what Lu had but with the current structure)