parabolicsmoother.cpp   parabolicsmoother.cpp 
skipping to change at line 203 skipping to change at line 203
ConfigurationSpecification::ConvertData(ittargetdata,ne wspec,vconfig.begin(),velspec,1,GetEnv(),false); ConfigurationSpecification::ConvertData(ittargetdata,ne wspec,vconfig.begin(),velspec,1,GetEnv(),false);
*(ittargetdata+timeoffset) = vswitchtimes[i]-prevtime; *(ittargetdata+timeoffset) = vswitchtimes[i]-prevtime;
*(ittargetdata+waypointoffset) = dReal(i+1==vswitchtime s.size()); *(ittargetdata+waypointoffset) = dReal(i+1==vswitchtime s.size());
ittargetdata += newspec.GetDOF(); ittargetdata += newspec.GetDOF();
prevtime = vswitchtimes[i]; prevtime = vswitchtimes[i];
} }
ptraj->Insert(ptraj->GetNumWaypoints(),vtrajpoints); ptraj->Insert(ptraj->GetNumWaypoints(),vtrajpoints);
} }
BOOST_ASSERT(RaveFabs(dynamicpath.GetTotalTime()-ptraj->GetDura tion())<0.001); BOOST_ASSERT(RaveFabs(dynamicpath.GetTotalTime()-ptraj->GetDura tion())<0.001);
RAVELOG_DEBUG(str(boost::format("after shortcutting %d times: p ath waypoints=%d, traj waypoints=%d, length=%fs")%numshortcuts%dynamicpath. ramps.size()%ptraj->GetNumWaypoints()%dynamicpath.GetTotalTime())); RAVELOG_DEBUG(str(boost::format("after shortcutting %d times: p ath waypoints=%d, traj waypoints=%d, traj time=%fs")%numshortcuts%dynamicpa th.ramps.size()%ptraj->GetNumWaypoints()%dynamicpath.GetTotalTime()));
} }
catch (const openrave_exception& ex) { catch (const std::exception& ex) {
string filename = str(boost::format("%s/failedsmoothing%d.xml") %RaveGetHomeDirectory()%(RaveRandomInt()%1000)); string filename = str(boost::format("%s/failedsmoothing%d.xml") %RaveGetHomeDirectory()%(RaveRandomInt()%1000));
RAVELOG_WARN(str(boost::format("parabolic planner failed: %s, w riting original trajectory to %s")%ex.what()%filename)); RAVELOG_WARN(str(boost::format("parabolic planner failed: %s, w riting original trajectory to %s")%ex.what()%filename));
ofstream f(filename.c_str()); ofstream f(filename.c_str());
f << std::setprecision(std::numeric_limits<dReal>::digits10+1); f << std::setprecision(std::numeric_limits<dReal>::digits10+1);
ptraj->serialize(f); ptraj->serialize(f);
return PS_Failed; return PS_Failed;
} }
RAVELOG_DEBUG(str(boost::format("path optimizing - computation time =%fs\n")%(0.001f*(float)(GetMilliTime()-basetime)))); RAVELOG_DEBUG(str(boost::format("path optimizing - computation time =%fs\n")%(0.001f*(float)(GetMilliTime()-basetime))));
return PS_HasSolution; return PS_HasSolution;
} }
 End of changes. 2 change blocks. 
2 lines changed or deleted 2 lines changed or added

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