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Path Planning Feedback #152

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Jmeyer1292 opened this issue Feb 9, 2017 · 0 comments
Open

Path Planning Feedback #152

Jmeyer1292 opened this issue Feb 9, 2017 · 0 comments
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@Jmeyer1292
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It's important for us to provide better feedback to the user of Godel about failures to do motion planning.

I hope to add a system that reports errors from the motion planning that can be displayed to the user in a simple & helpful manner. An example might be "Point 3 is out of reach!" w/ some highlighting on what Point 3 actually is.

I plan to report the following errors:

  • Out of reach
  • In reach but invalid because constraint (relative joint position, collision)
  • Unable to complete process (there are valid solutions at two points, but no time-allowable transitions between them).

This will probably require some changes to Descartes to extract this useful information.

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