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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Correct the condition to skip checking temp config #1348

Closed Puttichai closed 4 months ago

Puttichai commented 5 months ago

Summary

In the beginning of the while loop in the Check function, previously we checked whether to check _vtempconfig (which gets updated in every iteration) via SetAndCheckState by the following condition

istep >= start

The above condition is not correct since there is a scenario that results in the code skipping checking of some unchecked configurations. Consider the following scenario

This PR updates the condition to

istep >= start || !bComputeNewStep
Puttichai commented 5 months ago

@rdiankov Could you help review this pull request? I believe this issue is critical.

rdiankov commented 4 months ago

thanks