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ros-industrial-consortium / descartes

ROS-Industrial Special Project: Cartesian Path Planner
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Internal-Joint-Point #174

Closed Jmeyer1292 closed 7 years ago

Jmeyer1292 commented 8 years ago

This PR replaces the use of JointTrajectoryPt inside the planning_graph with a InternalJointPt class that mimics the former's interface, but only includes components used by the planning graph.

This means that every vertex no longer stores additional upper/lower/discretization vectors or coordinate frame transforms.

On the ROSCON demo, with discretization of 0.05 radians, maximum memory consumption dropped 36%. With 0.1 radians, it dropped approximately 48%. Program execution time dropped by about 10%.

jrgnicho commented 8 years ago

Does this change not affect the high level Sparse and Dense planners?

Jmeyer1292 commented 8 years ago

It does not. The internal point mimics the interface of a JointTrajectoryPoint (ala Python duck-typing) and no modifications to the other components are required.

jrgnicho commented 8 years ago

+1