wip support AtlasStateSpace #2
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gautz
commented
Jul 1, 2021
| spec_.constrained_state_space_->as<ob::TangentBundleStateSpace>()->anchorChart(ompl_start_state.get()); | ||
| ROS_INFO_NAMED("model_based_planning_context", | ||
| "trying to anchor goal states for constrained tangent bundle state space."); | ||
| // spec_.constrained_state_space_->as<ob::TangentBundleStateSpace>()->anchorChart(goal.get()); |
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We need the goal as a joint state here to be able to anchorChart().
Or maybe anchorChart should be called somewhere else in the interface?
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Description
to check if the approach makes sense
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