Is it possible to define an initial guess trajectory for further optimization by CHOMP?
In most cases the trajectory I am looking for is just a straight line or а Γ-shaped. Thus, I know the first approximation of the trajectory, and I would like to use this knowledge to speed up the planning. Is it possible?
I found in doc the configuration parameter **trajectory_initialization_method**. If value of this is equal to **fillTrajectory**, then it will use another planner for initial guess. But, this way seems quite complicated.
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