From 753dd2f4e3f22625f870b10f0070fb4251f1c4d6 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Tobias=20Gr=C3=B6ger?= <tobias.groeger@student.kit.edu>
Date: Fri, 12 Aug 2022 01:17:44 +0200
Subject: [PATCH] Remove todo, change velocity visualization upper limit
---
source/armarx/navigation/local_planning/TimedElasticBands.cpp | 2 --
.../navigation/server/introspection/ArvizIntrospector.cpp | 2 +-
2 files changed, 1 insertion(+), 3 deletions(-)
diff --git a/source/armarx/navigation/local_planning/TimedElasticBands.cpp b/source/armarx/navigation/local_planning/TimedElasticBands.cpp
index 446b5743..dc02d4c5 100644
--- a/source/armarx/navigation/local_planning/TimedElasticBands.cpp
+++ b/source/armarx/navigation/local_planning/TimedElasticBands.cpp
@@ -116,8 +116,6 @@ namespace armarx::navigation::local_planning
try
{
- // TODO (SALt): free goal velocity is not respected inside homotopy planner
- ARMARX_VERBOSE << "Plan to dest: " << planToDest << ", freeGoal Vel: " << !planToDest;
hcp_->plan(start, end, &velocity_start, !planToDest);
}
catch (std::exception& e)
diff --git a/source/armarx/navigation/server/introspection/ArvizIntrospector.cpp b/source/armarx/navigation/server/introspection/ArvizIntrospector.cpp
index 694ff174..cb1f306e 100644
--- a/source/armarx/navigation/server/introspection/ArvizIntrospector.cpp
+++ b/source/armarx/navigation/server/introspection/ArvizIntrospector.cpp
@@ -172,7 +172,7 @@ namespace armarx::navigation::server
simox::ColorMap cm = simox::color::cmaps::inferno();
cm.set_vmin(0);
- cm.set_vmax(1);
+ cm.set_vmax(0.6);
for (size_t i = 0; i < trajectory.points().size() - 1; i++)
{
--
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