Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Don't use MTC in Plan and Save Trajectory objective #82

Merged
merged 1 commit into from
Jan 9, 2025

Conversation

dyackzan
Copy link

@dyackzan dyackzan commented Jan 8, 2025

The MTC plan's computational complexity increases exponentially when several MoveToPose stages, each with multiple solutions are stacked on top of each other.

Using PlanCartesianPath with a validation step to ensure no collisions is a much less computationally complex way to navigate through poses.

see https://github.com/PickNikRobotics/moveit_pro/issues/10078#issuecomment-2572903505 for Mario's investigation that led to these findings

resolves https://github.com/PickNikRobotics/moveit_pro/issues/10078

The MTC plan's computational complexity increases exponentially when
several MoveToPose stages, each with multiple solutions are stacked on
top of each other.

Using PlanCartesianPath with a validation step to ensure no collisions
is a much less computationally complex way to navigate through poses.
Copy link

@marioprats marioprats left a comment

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

LGTM!

@dyackzan dyackzan merged commit 8aab45e into main Jan 9, 2025
4 checks passed
MikeWrock pushed a commit that referenced this pull request Jan 13, 2025
…lay-motion

Don't use MTC in Plan and Save Trajectory objective
dyackzan added a commit that referenced this pull request Jan 21, 2025
…lay-motion

Don't use MTC in Plan and Save Trajectory objective
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Labels
None yet
Projects
None yet
Development

Successfully merging this pull request may close these issues.

None yet

2 participants