Remove duplicate collision checks in VectorField.

personalrobotics / prpy

Python utilities used by the Personal Robotics Laboratory.

BSD 3-Clause "New" or "Revised" License

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Remove duplicate collision checks in VectorField. #359

Closed mkoval closed 8 years ago

mkoval commented 8 years ago

This uses the improvements @jeking04 made to GetLinearCollisionCheckPts in #332 to improve the collision checking efficiency of VectorFieldPlanner. Due to poor bookkeeping, the planner previously re-checked the entire trajectory from the start after each integration step.

This pull request is an improved version of the attempted fix in #287.

jeking04 commented 8 years ago

👍

mkoval commented 8 years ago

Thanks, Jen!

cdellin commented 8 years ago

Thanks Jen!