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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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Switched to calling robot.retimer on SMOOTH paths #347

Closed mkoval closed 8 years ago

mkoval commented 8 years ago

This pull request:

  1. Switches to calling robot.retimer on SMOOTH trajectories. This avoids shortcutting trajectories that are already smooth.
  2. Deprecates the default_timelimit parameter to PostProcessPath, which would insidiously mask the timelimit passed into the post-processor at construction time. See #341.

These changes are backwards compatible. However, you may see poor quality SMOOTH trajectory execution from (1) if robot.retimer is set to a post-processing algorithm that stops at every waypoint.

jeking04 commented 8 years ago

:+1: