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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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Enable CBiRRT L-2 norm for dof resolution #333

Closed cdellin closed 8 years ago

cdellin commented 8 years ago

A recent comps PR adds a flag (off by default) to switch CBiRRT's interpretation of the robot's DOF resolutions from an L-infinity norm to an L-2 norm. Once that's merged, we should merge this to turn it on from PrPy (mirroring #332 for the Python planners).

cdellin commented 8 years ago

I added the steplength parameter to CBiRRT. I chose 0.0599 (was 0.05 before by default) since it was the closest to the original that is just under a multiple of Herb's DOF resolution (0.02).