Improve chomp_planner_tutorial text and formatting #609
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JafarAbdi
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Mar 11, 2021
felixvd
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Mar 25, 2021
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| - *enable failure recovery*: if this is set to true, CHOMP tweaks ceratin parameters in the hope to find a solution when one does not exist with the default paramters specified in the ``chomp_planning.yaml`` file. | ||
| - **enable failure recovery**: :: | ||
| If this is set to true, CHOMP tweaks ceratin parameters in the hope to find a solution when one does not exist with the default paramters specified in the ``chomp_planning.yaml`` file. |
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What are ceratin parameters? Is this an anthill planner? Oh well.
felixvd
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Mar 25, 2021
| - Handles cost functions which do not need to be differentiable. | ||
| - Uses distance field and spherical approximations to quickly compute distance queries and collision costs. | ||
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| Integration into Kinetic and Melodic version of MoveIt is work in progress. `More info <https://www.sachinchitta.org/uploads/2/2/5/7/22571428/kalakrishnan_icra_2011.pdf>`_ |
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I remember using it in Melodic. Isn't it available?
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Co-authored-by: Bey Hao Yun <[email protected]>
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Rebased #435 for master branch
Fixed lots of sphinx warnings blocking Travis
fyi @cardboardcode original author