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Remove Iterative Spline and Iterative Parabola time-param algorithms #1191
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Codecov Report
@@ Coverage Diff @@
## main #1191 +/- ##
==========================================
- Coverage 61.32% 60.68% -0.64%
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Files 274 270 -4
Lines 24766 24318 -448
==========================================
- Hits 15186 14754 -432
+ Misses 9580 9564 -16
Continue to review full report at Codecov.
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What do we gain from removing these plugins?
Changing defaults (if that didn't happen yet) is a different matter.
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I just noticed my feedback by mail never made it here! 😠 Here's a copy: Thank you for answering the question. 👍 I know I'm being annoying by
If someone explicitly uses a non-default they should be looking for different
True, though I believe it would be perfectly justified to add new arguments to
I'm not sure this is relevant. From |
I'm going to go ahead and close this, then. Let me know if you have second thoughts. (I'll likely re-open a PR to make TOTG the default everywhere) |
Thank you for answering the question. 👍 I know I'm being annoying by opposing various remove-that-code initiatives lately.
- Nothing unexpected happens if somebody tries to execute one of these plugins on a real robot
If someone explicitly uses a non-default they should be looking for different behavior explicitly.
Please note that TOTG is also (by far) not the perfect dynamics parameterization you make it sound like.
We had some long discussions on that [here](moveit/moveit#2183) and [here](moveit/moveit#2110).
- The API changes we've been talking about don't need to be added to these older plugins --> less maintenance
- #1180 (comment)
- #1186
True, though I believe it would be perfectly justified to add new arguments to the callback and ignore them or warn if they are set.
And that takes 5 minutes to implement and test. :)
- Slightly faster CI run times and build times for MoveIt users
I'm not sure this is relevant. From moveit/moveit#2081 it looks like the longest-compiling method in this code part took 300ms to compile. So you might gain a second.
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We've been using TOTG by default for awhile now. The only drawback of TOTG I'm aware of is that it can't handle nonzero initial or final velocities/accelerations. So I was thinking that would be a reason to keep the older algorithms (ISTP and IPTP). But, I added a little test and it looks like neither of those algorithms handles it either. Even worse -- they just fail without throwing any error. So I think we should delete them.
3 commits: