- Jun 28, 2024
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pre-commit-ci[bot] authored
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Florent Lamiraux authored
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Florent Lamiraux authored
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- Jun 20, 2024
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pre-commit-ci[bot] authored
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- Jun 13, 2024
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Ilias Harkati authored
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Florent Lamiraux authored
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- Jun 10, 2024
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pre-commit-ci[bot] authored
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- Jun 07, 2024
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pre-commit-ci[bot] authored
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Ilias Harkati authored
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- Oct 20, 2023
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pre-commit-ci[bot] authored
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Florent Lamiraux authored
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- Sep 26, 2023
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pre-commit-ci[bot] authored
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Florent Lamiraux authored
in C++.
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- Jul 28, 2023
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Florent Lamiraux authored
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- Jul 19, 2023
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pre-commit-ci[bot] authored
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- Jul 07, 2023
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Florent Lamiraux authored
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Florent Lamiraux authored
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- May 19, 2023
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Florent Lamiraux authored
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- Feb 20, 2023
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pre-commit-ci[bot] authored
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Florent Lamiraux authored
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Florent Lamiraux authored
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- Nov 21, 2022
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pre-commit-ci[bot] authored
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- Jun 28, 2022
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Le Quang Anh authored
The configSolved() method is redundant. Checks are added for the case where the final configuration computed has been reached but the goal is deemed not reached by the path planner. Some other small redundancies are also removed.
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- May 31, 2022
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Guilhem Saurel authored
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- May 30, 2022
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Le Quang Anh authored
Previously, when the inStatePlanner fails to compute path between two configurations on the same leaf, the roadmap generated is not added to the main roadmap of StatesPathFinder. Now it is added so that the roadmap gets expanded whenever inStatePlanner is used. The good side effect is fairer comparison between different algorithms when comparing by the number of nodes in the roadmap.
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- May 25, 2022
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Le Quang Anh authored
The StatesPathFinder algorithm is not yet able to handle all kinds of goal constraints. An example is when the object final configuration is locked in placement: the algorithm is not propagating the placement complement to previous waypoints. A note is added for users and future developers.
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- May 23, 2022
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Le Quang Anh authored
Previously, we handled this case when goal is defined as a goal configuration. However, this case may still occur when goal is defined as a set of constraints. Moreover, the previous method does not store the loop transition to the list of solutions, making it difficult to re-try later on.
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- May 20, 2022
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Le Quang Anh authored
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- Apr 21, 2022
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Florent Lamiraux authored
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- Apr 19, 2022
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Guilhem Saurel authored
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- Apr 15, 2022
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Florent Lamiraux authored
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- Apr 04, 2022
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Le Quang Anh authored
The graph has loop edge for every state (node), which can be used to connect init and goal config directly if they are both in the same state.
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- Mar 30, 2022
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Le Quang Anh authored
Previously, there are multiple versions of the same function, to cater for two cases: when goal is defined as a configuration, and when when goal is defined as a set of constraints. This duplication is not desirable, as we need to make changes in multiple places if we want to make a small change in a function. This commit removes the duplication by merging the functions together and adding checks within the new functions to cater for the two cases. Some modifications are needed for analyseOptimizationProblem when goal is given as a configuration. So far we have made a few, but there may be more.
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- Mar 28, 2022
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Le Quang Anh authored
BUG: if a certain transition list succeeds to give a configuration list for the first time, and fails for the second time, a new transition list will be considered, but skipColAnalysis is NOT reset. This is now fixed by using the direct comparison with nTryConfigList_ instead of using an additional data member.
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- Mar 24, 2022
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Le Quang Anh authored
Previously, `solveOptimizationProblem()` sometimes returns configuration list that has collision in at least one configuration. This was possibly because the collision validation is not working properly. Fixed by using the new collision validation provided by hpp::core. Some refactoring is also done to make the return of the function a bit clearer (instead of simple int, use enum).
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Le Quang Anh authored
Make graph search data part of the path planner object, so that we don't have to search the graph from scratch everytime we want to compute a new list of configurations.
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- Mar 21, 2022
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Le Quang Anh authored
Remove nested if and add more comments to explain GraphSearchData
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- Mar 18, 2022
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Le Quang Anh authored
From the list of goal constraints, we can find a list of states that contain the maximum number of goal constraints. We choose to compute only state sequences that end in a state that can potentially be a goal state. However, future work needs to assess/prove that this heuristic covers all the possible goal states.
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- Mar 17, 2022
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Le Quang Anh authored
When goal is defined as set of constraints, every state sequence is a possible solution. The current implementation grows the list of possible state sequences faster than they are attempted: for every time we add all neighbors of the front node to queue, we only try out one sequences. This could be too space consuming if the graph has large branching factor.
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- Mar 16, 2022
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Le Quang Anh authored
Before adding another constraint to a solver, check if it already has the stricter version of the constraint. `constraint/hold` is stricter than `constraint` and stricter than `constraint/complement`.
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