Commit 28b081af authored by Florent Lamiraux's avatar Florent Lamiraux
Browse files

Update to modification in path optimizer management

  - several path optimizers can be used.
parent 78feddb4
......@@ -14,7 +14,6 @@ vf = ViewerFactory (ps)
robot.setJointBounds ("hrp2/base_joint_xyz", [-0.2,0.8,-0.5,0.5, 0,2])
ps.selectPathOptimizer ('None')
ps.selectPathProjector ('Progressive', 0.2)
ps.setErrorThreshold (1e-3)
ps.setMaxIterations (40)
......
......@@ -61,7 +61,6 @@ q_inter = [-0.8017105239677402, -0.5977125025958312, -0.796440524800078, 0.60471
# 3}}}
robot.client.basic.problem.resetRoadmap ()
robot.client.basic.problem.selectPathOptimizer ('None')
robot.client.basic.problem.setErrorThreshold (1e-3)
robot.client.basic.problem.setMaxIterations (40)
ps.selectPathProjector ('Progressive', 0.2)
......
......@@ -60,6 +60,7 @@ else:
ps.setInitialConfig (q1proj)
ps.addGoalConfig (q2proj)
ps.addPathOptimizer ("RandomShortcut")
ps.solve ()
pp = PathPlayer (cl, r)
......
......@@ -24,7 +24,6 @@ vf.loadObjectModel (ScrewGun, 'screw_gun')
for d in ["hrp2", "screw_gun"]:
robot.setJointBounds (d+"/base_joint_xyz", [-4,4,-4,4,-4,4])
ps.selectPathOptimizer ('None')
ps.selectPathProjector ("Progressive", 0.2)
ps.setErrorThreshold (1e-3)
ps.setMaxIterations (40)
......
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