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change default planner
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Svastits committed Oct 24, 2023
1 parent 2f9c4e4 commit e8ef40a
Showing 1 changed file with 2 additions and 2 deletions.
Original file line number Diff line number Diff line change
Expand Up @@ -99,7 +99,7 @@ int main(int argc, char * argv[])
example_node->addBreakPoint();

// Plan with collision avoidance
planned_trajectory = example_node->planToPoint(standing_pose, "ompl", "chomp");
planned_trajectory = example_node->planToPoint(standing_pose, "ompl", "RRTConnectkConfigDefault");
if (planned_trajectory != nullptr) {
example_node->drawTrajectory(*planned_trajectory);
example_node->addBreakPoint();
Expand All @@ -114,7 +114,7 @@ int main(int argc, char * argv[])
q.w = 1;
example_node->setOrientationConstraint(q);
// Plan with collision avoidance
planned_trajectory = example_node->planToPoint(cart_goal, "ompl", "chomp");
planned_trajectory = example_node->planToPoint(cart_goal, "ompl", "RRTConnectkConfigDefault");
if (planned_trajectory != nullptr) {
example_node->drawTrajectory(*planned_trajectory);
example_node->addBreakPoint();
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