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Add flag to indicate that joint interpolation is used as first choice #3

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sjahr opened this issue Aug 24, 2022 · 0 comments
Open

Add flag to indicate that joint interpolation is used as first choice #3

sjahr opened this issue Aug 24, 2022 · 0 comments

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@sjahr
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sjahr commented Aug 24, 2022

In order to have intuitive paths with OMPL
As a user
I want to the option to tell OMPL to use a joint interpolation between the current state and the goal state if it exists

Acceptance criteria:
OMPL’s isStraigthLinPathValid feature is exploited by the MoveItCpp API
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