minor patches related to rrt and shortcutting #83
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This was a bit too much for me right away
with much less timeout, accepting that it fails in some trials. In my opinion it makes more sense to show what you've got on the first tries and the trees this configuration yields tend to be significantly sparser.
Otherwise there are two overlaid paths hard to distinguish when shortcutting is enabled.
with highly unbalanced path segments or repeated waypoints this broke before. Instead simplify to count same-segment samples as attempts. OMPL does it the same way.
When the connection is made through goal_biasing the goal was (1) added to the start tree, (2) added again as closest connecting point in the goal tree, and (3) appended as part of the goal tree path. The patch skips 2 and 3.
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Hi Sebastian,
I just used pyroboplan for some visualization and found a few things I would have preferred differently in the beginning.
I guess your defaults reflect your own preferences, so feel free to discard individual commits.
58af285 and be6ec2a fix relatively common hangups with shortcutting, so I also enabled it by default now that it works reliably (for me).
Great work! This was the first time I looked at part of the code.