Margin Parameter to Overcome Numerical Issues

ros-industrial / stomp_ros

ROS packages for the STOMP planner (split out of industrial_moveit)

Apache License 2.0

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Margin Parameter to Overcome Numerical Issues #27

Open jayalatn opened 4 years ago

jayalatn commented 4 years ago

Because of floating point number accuracy, sometimes, the state.satisfiesBounds(group) fails in the stomp_planner.cpp. Currently, there is no external way (via the configuration file) to set a margin for satisfiesBounds(group, margin). Can we add this feature and what is the best way to add it unless via config file?

jrgnicho commented 4 years ago

If we don't expect this margin value to change we could set it up as a global const variable with a very small value

jayalatn commented 4 years ago

Yes that would be sufficient for now if configurable parameter is a hassle. I can implement one of the other if we can create a ticket for this.

jrgnicho commented 4 years ago

@jayalatn feel free to create a PR with the global const variable

jayalatn commented 4 years ago

will do!