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personalrobotics / prpy

Python utilities used by the Personal Robotics Laboratory.
BSD 3-Clause "New" or "Revised" License
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Moved regrab logic into env equality check. #279

Closed psigen closed 8 years ago

psigen commented 8 years ago

Previously, we did a relatively expensive self-collision and regrab checks on the robot in any Clone() operation, on the off-chance that it was grabbing something that could get messed up.

This moves the CheckSelfCollision() and RegrabAll() operations inside the following checks:

  1. We are not cloning back into the same environment.
  2. The robot is actually grabbing something.

This shaves time off nested cloning calls, which are found everywhere in our planning stack. It may also obviate the need for #272.

mkoval commented 8 years ago

:+1: Excellent change.