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rdiankov / openrave

Open Robotics Automation Virtual Environment: An environment for testing, developing, and deploying robotics motion planning algorithms.
http://www.openrave.org
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optimize jitterers by only processing links affected by active DOFs #1318

Closed yoshikikanemoto closed 9 months ago

yoshikikanemoto commented 9 months ago

motivation

Found inefficient code when i was debugging behavior of jitterer.

changes

  1. break from the linkdistthresh logic as soon as it found a violation
  2. change the linkdistthresh logic to only consider links that are affected by active dofs

test

jittering was 10% faster on some truckbot env.

rdiankov commented 9 months ago

thanks