<commit_before>#include "robojackets_3d_trajectory_planning_node/planner_wrapper.h"
#include "robojackets_3d_trajectory_planning_node/postprocessing.h"

PlannerWrapper::PlannerWrapper()
{
    Eigen::Vector3d size(800, 800, 800);
    statespace_ = std::make_shared<RRT::GridStateSpace>(size.x(), size.y(), size.z(), 40, 40, 40);
    birrt_ = std::make_unique<RRT::BiRRT<Eigen::Vector3d>>(statespace_, 3);

    Eigen::Vector3d start_state(10, 10, 10);
    Eigen::Vector3d goal_state(790, 790, 790);
    //  setup birrt
    birrt_->SetStartState(start_state);
    birrt_->SetGoalState(goal_state);
    birrt_->SetMaxStepSize(100);
    birrt_->SetStepSize(10);
    birrt_->SetMaxIterations(1000);
    birrt_->SetAdaptiveScalingEnable(true);
    birrt_->SetGoalBias(0.2);
    birrt_->SetWaypointBias(0.2);
    birrt_->SetMaxDistanceToGoal(5);

    start_velocity_ = Eigen::Vector3d(3, 0, 0);
    goal_velocity_ = Eigen::Vector3d(0, 3, 0);


    // add test wall
    ROS_INFO("Make Octomap great again");
    double x_wall, y_wall, z_wall;
    y_wall = 750;
    for(x_wall = 500; x_wall <= size.x(); x_wall += 1)
    {
        for(z_wall = 500; z_wall <= size.z(); z_wall += 1)
        {
            Eigen::Vector3d wall_point(x_wall, y_wall, z_wall);
            statespace_->GetObstacleGrid().InsertOccupiedMeasurement(wall_point);
        }
    }
    ROS_INFO("Trump was here");
}

void PlannerWrapper::Step()<commit_msg>added test wall of obstacles splitting the entire planning space<commit_after>#include "robojackets_3d_trajectory_planning_node/planner_wrapper.h"
#include "robojackets_3d_trajectory_planning_node/postprocessing.h"

PlannerWrapper::PlannerWrapper()
{
    Eigen::Vector3d size(800, 800, 800);
    statespace_ = std::make_shared<RRT::GridStateSpace>(size.x(), size.y(), size.z(), 40, 40, 40);
    birrt_ = std::make_unique<RRT::BiRRT<Eigen::Vector3d>>(statespace_, 3);

    Eigen::Vector3d start_state(10, 10, 10);
    Eigen::Vector3d goal_state(790, 790, 790);
    //  setup birrt
    birrt_->SetStartState(start_state);
    birrt_->SetGoalState(goal_state);
    birrt_->SetMaxStepSize(100);
    birrt_->SetStepSize(10);
    birrt_->SetMaxIterations(1000);
    birrt_->SetAdaptiveScalingEnable(true);
    birrt_->SetGoalBias(0.2);
    birrt_->SetWaypointBias(0.2);
    birrt_->SetMaxDistanceToGoal(5);

    start_velocity_ = Eigen::Vector3d(3, 0, 0);
    goal_velocity_ = Eigen::Vector3d(0, 3, 0);


    // add test wall
    ROS_INFO("Make Octomap great again");
    double x_wall, y_wall, z_wall;
    y_wall = 400;
    for(x_wall = 0; x_wall <= size.x(); x_wall += 1)
    {
        for(z_wall = 0; z_wall <= size.z(); z_wall += 1)
        {
            Eigen::Vector3d wall_point(x_wall, y_wall, z_wall);
            statespace_->GetObstacleGrid().InsertOccupiedMeasurement(wall_point);
        }
    }
    ROS_INFO("Trump was here");
}

void PlannerWrapper::Step()
{'fraction_non_alphanumeric': 0.1442941380506417, 'fraction_numerical': 0.047866805411030174, 'mean_word_length': 4.059649122807017, 'pattern_counts': {'":': 0, '<': 13, '<?xml version=': 0, '>': 29, 'https://': 0, 'lorem ipsum': 0, 'www.': 0, 'xml': 0}, 'pii_count': 0, 'substrings_counts': 0, 'word_list_counts': {'cursed_substrings.json': 0, 'profanity_word_list.json': 0, 'sexual_word_list.json': 0, 'zh_pornsignals.json': 0}}
{'dir': 'git-commits-cleaned', 'id': '1889262', 'n_tokens_mistral': 1211, 'n_tokens_neox': 1089, 'n_words': 170}