search

tesseract-robotics / trajopt

Trajectory Optimization Motion Planner for ROS
385 stars 103 forks source link

Discrete collision check setting #361

Open rjoomen opened 10 months ago

rjoomen commented 10 months ago

Shouldn't is_continuous be false here, as it is the LVSDiscreteCollisionEvaluator?

rjoomen commented 10 months ago

Otherwise LVSContinuousCollisionEvaluator::CalcCollisionData() and LVSDiscreteCollisionEvaluator::CalcCollisionData() are exactly the same.

Levi-Armstrong commented 10 months ago

It needs to be set to true, it is still considered continues from a trajopt perspective even though it is using a discrete contact checker because it is integrating collision data along the path between two state.

rjoomen commented 10 months ago

What do you think about moving CalcCollisionData() to parent class ContinuousCollisionEvaluator then?