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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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Modify CHOMPPlanner to throw more informative exceptions #319

Closed mkoval closed 8 years ago

mkoval commented 8 years ago

It would be useful for CHOMP to throw CollisionPlanningError and SelfCollisionPlanningError to inform the user why planning failed. This information is available in C++ during the post-optimization verification step, but is not currently available in Python.

I suggest disabling the C++ verification and moving it to Python, where we can throw the appropriate exception classes.

cdellin commented 8 years ago

I support doing moving this to the PrPy wrapper ... note that you can pass no_collision_check=True to CHOMP, and it will skip the check in C++ land.

mkoval commented 8 years ago

This was resolved in #318.