Re: [ompl-users] DUBINS_EPS and DUBINS_ZERO

[Mark M. <mm...@ri...>]

Hi Olzhas,

These constants were empirically chosen to make the Dubins state space pass the space test unit tests and sanity checks. We have not spent significant time trying to minimize them as much as possible, let alone derive analytic bounds. If you know they can be made much smaller and still pass the unit tests, please submit a pull request with the desired change.

Best,

Mark



> On Nov 30, 2021, at 8:20 AM, Olzhas Adiyatov <olz...@gm...> wrote:
> 
> Hello everyone!
>  
> How were these two constants determined?
>  
> https://github.com/ompl/ompl/blob/528f02cdc5ac785ba24e1dbdf1cf621a17020b7b/src/ompl/base/spaces/src/DubinsStateSpace.cpp#L48 <https://github.com/ompl/ompl/blob/528f02cdc5ac785ba24e1dbdf1cf621a17020b7b/src/ompl/base/spaces/src/DubinsStateSpace.cpp#L48>
> https://github.com/ompl/ompl/blob/528f02cdc5ac785ba24e1dbdf1cf621a17020b7b/src/ompl/base/spaces/src/DubinsStateSpace.cpp#L49 <https://github.com/ompl/ompl/blob/528f02cdc5ac785ba24e1dbdf1cf621a17020b7b/src/ompl/base/spaces/src/DubinsStateSpace.cpp#L49>
>  
> Kind regards,
> Olzhas
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