ros-industrial / stomp_ros

ROS packages for the STOMP planner (split out of industrial_moveit)
Apache License 2.0
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Obstacle distance gradient #28

Open iskandersauma opened 4 years ago

iskandersauma commented 4 years ago

From what I can see is that in the cost functions, there are two versions of which only collision cost is using a kernel smoothening function. Why is no kernel smoothening function implemented for obstacle distance gradient? Would this not improve the performance when using this cost function?