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There is a condition in the cartesian path planning algorithm that adds 4 intermediate states between two waypoints if a jump_threshold is specified.

I guess this is because the continuity check that is implemented with the jump threshold relies on the average distance between all intermediate points. An average distance only makes sense though if there is a minimum number of measurements to average over. So I guess Ioan more or less randomly decided to add 4 steps there.

I guess the 26 states you get back when you set the jump threshold to a very tight bound do not make the robot move the full 50cm, or do they? Setting it to a value close to 1.0 entails that the joint space distance between all consecutive intermediate points of the returned trajectory has to be nearly equal. Otherwise the algorithm will truncate the trajectory at the first waypoint that differs too much from its predecessor.