Add RFE for custom cost functions

Signed-off-by: methylDragon <[email protected]>
moveit · Jul 24, 2024 · 241f620 · 241f620
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commit 241f620
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diff --git a/moveit_ros/trajectory_cache/README.md b/moveit_ros/trajectory_cache/README.md
@@ -130,3 +130,5 @@ Since this is an initial release, the following features are unsupported because
 - !!! This cache does NOT support certain constraints
   - Including: path, constraint regions, everything related to collision.
 - The fuzzy lookup can't be configured on a per-joint basis.
+- Alternate ordinal lookup metrics for the cache
+  - Currently only execution time is explicitly supported as a way to compare cache entries. Ideally we should be able to inject lambdas to save custom cache DB metadata to represent and sort on custom cost functions. (e.g. https://github.com/moveit/moveit2/pull/2153)