planner_cspace: avoid multiple goal pose relocation #708
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Codecov Report
@@ Coverage Diff @@
## master #708 +/- ##
==========================================
- Coverage 88.31% 88.09% -0.22%
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Files 60 60
Lines 4330 4335 +5
==========================================
- Hits 3824 3819 -5
- Misses 506 516 +10
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at-wat
reviewed
Jul 31, 2023
planner_cspace/src/planner_3d.cpp
Outdated
| "New goal received (%d, %d, %d)", | ||
| e[0], e[1], e[2]); | ||
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| ROS_INFO("New goal received. Metric: (%f, %f, %f), Grid: (%d, %d, %d)", |
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Precision of %0.3f would be enough
[465] PASSED on noeticAll tests passed |
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relocateDiscretePoseIfNeeded()is currently applied to a grid coordinate converted fromgoal_, andgoal_is updated using the relocated grid coordinate. AscreateCostEstimCache()is called repeatedly,goal_can be relocated multiple times.