only check plans in one place in first solution loop, remove spam and clean api so you get better errors #5280
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viambot
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dgottlieb
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Sep 12, 2025
| @@ -75,24 +75,16 @@ func initRRTSolutions(ctx context.Context, wp atomicWaypoint) *rrtSolution { | |||
| }) | |||
| rrt.maps.optNode = &basicNode{q: goalNodes[0].Q()} | |||
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| // Check for direct interpolation for the subset of IK solutions within some multiple of optimal | |||
| // Since solutions are returned ordered, we check until one is out of bounds, then skip remaining checks | |||
| canInterp := true | |||
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Did you find this claim was just wrong? And we were passing up on possible solutions?
Or is the calculation simply cheap and the optimization was unnecessary?
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it's sort of cheap.
the optimization does speed things up,
BUT most of that logic is already being run and it's duplicated here.
debating if i'm going to put it in this change or separate.
dgottlieb
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Sep 12, 2025
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i made the change much bigger, so re-requested a look |
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