[Personalrobots-commit] SF.net SVN: personalrobots:[20942] pkg/trunk/sandbox/chomp_motion_planner/ src/chomp_optimizer.cpp

[<mr...@us...>]

Revision: 20942
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=20942&view=rev
Author:   mrinal
Date:     2009-08-06 23:07:03 +0000 (Thu, 06 Aug 2009)

Log Message:
-----------
Don't abort early due to lack of improvements

Modified Paths:
--------------
    pkg/trunk/sandbox/chomp_motion_planner/src/chomp_optimizer.cpp

Modified: pkg/trunk/sandbox/chomp_motion_planner/src/chomp_optimizer.cpp
===================================================================
--- pkg/trunk/sandbox/chomp_motion_planner/src/chomp_optimizer.cpp	2009-08-06 22:39:03 UTC (rev 20941)
+++ pkg/trunk/sandbox/chomp_motion_planner/src/chomp_optimizer.cpp	2009-08-06 23:07:03 UTC (rev 20942)
@@ -207,12 +207,6 @@
       animatePath();
     }
     
-    if (iteration_ - last_improvement_iteration_ > 50)
-    {
-      ROS_INFO("Aborting due to lack of improvements...");
-      break;
-    }
-
   }
   group_trajectory_.getTrajectory() = best_group_trajectory_;
   updateFullTrajectory();


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