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IrisFromCliqueCover Bug Tracking #80

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AlexandreAmice opened this issue Jan 25, 2024 · 0 comments
Open
5 tasks

IrisFromCliqueCover Bug Tracking #80

AlexandreAmice opened this issue Jan 25, 2024 · 0 comments

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@AlexandreAmice
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AlexandreAmice commented Jan 25, 2024 •
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What happened?

  • There is an infinite loop cause by too few clique points
  • We must guarantee that we sample enough points to make a big enough clique that actually adds a set.
  • We need to update the plant context before calling IrisInConfigurationSpace when building an IrisRegion from a clique.
  • There is a race condition when building multiple IrisRegions in parallel because they all use the same context from the collision checker.
  • Sanity check the options. One user put coverage termination threshold over 1 and got the infinite loop.

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