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The key to pruning in the Connecting stage was the following: - Don't remove states during pruning, but only disable them. They might become re-enabled due to further input. - Distinguish START and END sides of a disabled solution tree to break their symmetry. The START side from where we started disabling, can be re-enabled by a new partner state in Connecting, the END side must not. This was important as, otherwise, the states would simply get re-enabled immediately. The END side only gets re-enabled if the START side actually connects the whole solution branch. |
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| .. | ||
| include/moveit/task_constructor | ||
| src | ||
| test | ||
| CMakeLists.txt | ||
| motion_planning_stages_plugin_description.xml | ||
| package.xml | ||