From 513ce271d41fb9424543a67b689c70f497d37856 Mon Sep 17 00:00:00 2001 From: Sebastian Castro Date: Sat, 23 Nov 2024 14:32:17 -0500 Subject: [PATCH] Revert "Update ompl_interface_tutorial.rst (#542)" This reverts commit 4f06b454c69e2ba73f36984bcdab741ea16582a2. --- .../ompl_interface_tutorial.rst | 27 +------------------ 1 file changed, 1 insertion(+), 26 deletions(-) diff --git a/doc/examples/ompl_interface/ompl_interface_tutorial.rst b/doc/examples/ompl_interface/ompl_interface_tutorial.rst index 900d19c6c4..0a39044da5 100644 --- a/doc/examples/ompl_interface/ompl_interface_tutorial.rst +++ b/doc/examples/ompl_interface/ompl_interface_tutorial.rst @@ -99,32 +99,7 @@ The configuration of these optimization objectives can be done in the *ompl_plan goal_bias: 0.05 delay_collision_checking: 1 -Other optimization objectives can be defined programmatically and then passed to MoveIt. - -To do so, a minimal setup is as follows : - -#. In your own package, create your own optimization objective class for OMPL. For more information on the OMPL optimal planners, the reader is referred to the `OMPL - Optimal Planning documentation `_. - -#. In your .cpp file, include ``"moveit/ompl_interface/ompl_optimization_objective_loader.h"`` and add, at the end, the macro ``MOVEIT_OPTIMIZATION_OBJECTIVE_PLUGIN(namespace, class_name)``, with the right namespace and class name you used. - -#. Create a plugin description file .xml containing the following : :: - - - - - - - - The ``name`` tag will the name to pass the parameter **optimization_objective**. - - The ``type`` tag is the fully qualified type of the plugin, be sure to add ``Loader`` at the end of the tag type. - - The ``base_class_type`` is the fully qualified base class type for the plugin and does not need to be modified. - -#. Export the plugin description file in the CMakeLists.txt of your package with ``pluginlib_export_plugin_description_file(plugin_description.xml)`` - +Other optimization objectives can be defined programmatically. For more information on the OMPL optimal planners, the reader is referred to the `OMPL - Optimal Planning documentation `_. OMPL Planner Termination Conditions ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^