{"action":"created","comment":{"url":"https://api.github.com/repos/personalrobotics/prpy/pulls/comments/76678375","id":76678375,"diff_hunk":"@@ -192,38 +221,34 @@ def _SetPlannerRange(self, robot, ompl_args=None):\n             # RRT-Connect's range to the same value used for collision\n             # detection inside OpenRAVE.\n             longest_extent = numpy.max(dof_ranges)\n-            ompl_range = conservative_ratio * longest_extent - epsilon\n+            ompl_range  = conservative_ratio * longest_extent - self.epsilon\n+            ompl_range *= self.multiplier","path":"src/prpy/planning/ompl.py","position":67,"original_position":67,"commit_id":"883da31636a427d673792ec957d363ca57ee8eaf","original_commit_id":"883da31636a427d673792ec957d363ca57ee8eaf","user":{"login":"cdellin","id":2708448,"avatar_url":"https://avatars.githubusercontent.com/u/2708448?v=3","gravatar_id":"","url":"https://api.github.com/users/cdellin","html_url":"https://github.com/cdellin","followers_url":"https://api.github.com/users/cdellin/followers","following_url":"https://api.github.com/users/cdellin/following{/other_user}","gists_url":"https://api.github.com/users/cdellin/gists{/gist_id}","starred_url":"https://api.github.com/users/cdellin/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/cdellin/subscriptions","organizations_url":"https://api.github.com/users/cdellin/orgs","repos_url":"https://api.github.com/users/cdellin/repos","events_url":"https://api.github.com/users/cdellin/events{/privacy}","received_events_url":"https://api.github.com/users/cdellin/received_events","type":"User","site_admin":false},"body":"Also, I think the way this code in PrPy calculates the space resolution is inconsistent with the way it's calculated in `or_ompl` (see https://github.com/personalrobotics/or_ompl/blob/master/src/OMPLConversions.cpp#L154). Perhaps we changed the way it's calculated in `or_ompl` at some point without changing it here?","created_at":"2016-08-29T20:14:42Z","updated_at":"2016-08-29T20:14:42Z","html_url":"https://github.com/personalrobotics/prpy/pull/353#discussion_r76678375","pull_request_url":"https://api.github.com/repos/personalrobotics/prpy/pulls/353","_links":{"self":{"href":"https://api.github.com/repos/personalrobotics/prpy/pulls/comments/76678375"},"html":{"href":"https://github.com/personalrobotics/prpy/pull/353#discussion_r76678375"},"pull_request":{"href":"https://api.github.com/repos/personalrobotics/prpy/pulls/353"}}},"pull_request":{"url":"https://api.github.com/repos/personalrobotics/prpy/pulls/353","id":83157381,"html_url":"https://github.com/personalrobotics/prpy/pull/353","diff_url":"https://github.com/personalrobotics/prpy/pull/353.diff","patch_url":"https://github.com/personalrobotics/prpy/pull/353.patch","issue_url":"https://api.github.com/repos/personalrobotics/prpy/issues/353","number":353,"state":"open","locked":false,"title":"Added OMPLRangedPlanner class","user":{"login":"mkoval","id":142251,"avatar_url":"https://avatars.githubusercontent.com/u/142251?v=3","gravatar_id":"","url":"https://api.github.com/users/mkoval","html_url":"https://github.com/mkoval","followers_url":"https://api.github.com/users/mkoval/followers","following_url":"https://api.github.com/users/mkoval/following{/other_user}","gists_url":"https://api.github.com/users/mkoval/gists{/gist_id}","starred_url":"https://api.github.com/users/mkoval/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/mkoval/subscriptions","organizations_url":"https://api.github.com/users/mkoval/orgs","repos_url":"https://api.github.com/users/mkoval/repos","events_url":"https://api.github.com/users/mkoval/events{/privacy}","received_events_url":"https://api.github.com/users/mkoval/received_events","type":"User","site_admin":false},"body":"This class adds logic for setting a 'range' parameter such that an\r\ninteger number of state validity checks will occur per extension. It\r\nimproves on the previous RRTConnect class in two ways:\r\n\r\n1. Accepts an optional 'algorithm' parameter, e.g. for PR_RRTConnect.\r\n2. Allows for more than one state validity checks per extension.\r\n\r\nThis also fixes #350.","created_at":"2016-08-29T19:56:22Z","updated_at":"2016-08-29T20:14:42Z","closed_at":null,"merged_at":null,"merge_commit_sha":"0821064b07292f319c997ddddc7f9e0e28e10d87","assignee":{"login":"gilwoolee","id":5163880,"avatar_url":"https://avatars.githubusercontent.com/u/5163880?v=3","gravatar_id":"","url":"https://api.github.com/users/gilwoolee","html_url":"https://github.com/gilwoolee","followers_url":"https://api.github.com/users/gilwoolee/followers","following_url":"https://api.github.com/users/gilwoolee/following{/other_user}","gists_url":"https://api.github.com/users/gilwoolee/gists{/gist_id}","starred_url":"https://api.github.com/users/gilwoolee/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/gilwoolee/subscriptions","organizations_url":"https://api.github.com/users/gilwoolee/orgs","repos_url":"https://api.github.com/users/gilwoolee/repos","events_url":"https://api.github.com/users/gilwoolee/events{/privacy}","received_events_url":"https://api.github.com/users/gilwoolee/received_events","type":"User","site_admin":false},"assignees":[{"login":"gilwoolee","id":5163880,"avatar_url":"https://avatars.githubusercontent.com/u/5163880?v=3","gravatar_id":"","url":"https://api.github.com/users/gilwoolee","html_url":"https://github.com/gilwoolee","followers_url":"https://api.github.com/users/gilwoolee/followers","following_url":"https://api.github.com/users/gilwoolee/following{/other_user}","gists_url":"https://api.github.com/users/gilwoolee/gists{/gist_id}","starred_url":"https://api.github.com/users/gilwoolee/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/gilwoolee/subscriptions","organizations_url":"https://api.github.com/users/gilwoolee/orgs","repos_url":"https://api.github.com/users/gilwoolee/repos","events_url":"https://api.github.com/users/gilwoolee/events{/privacy}","received_events_url":"https://api.github.com/users/gilwoolee/received_events","type":"User","site_admin":false}],"milestone":null,"commits_url":"https://api.github.com/repos/personalrobotics/prpy/pulls/353/commits","review_comments_url":"https://api.github.com/repos/personalrobotics/prpy/pulls/353/comments","review_comment_url":"https://api.github.com/repos/personalrobotics/prpy/pulls/comments{/number}","comments_url":"https://api.github.com/repos/personalrobotics/prpy/issues/353/comments","statuses_url":"https://api.github.com/repos/personalrobotics/prpy/statuses/883da31636a427d673792ec957d363ca57ee8eaf","head":{"label":"personalrobotics:bugfix/OMPLRangedPlanner","ref":"bugfix/OMPLRangedPlanner","sha":"883da31636a427d673792ec957d363ca57ee8eaf","user":{"login":"personalrobotics","id":4705918,"avatar_url":"https://avatars.githubusercontent.com/u/4705918?v=3","gravatar_id":"","url":"https://api.github.com/users/personalrobotics","html_url":"https://github.com/personalrobotics","followers_url":"https://api.github.com/users/personalrobotics/followers","following_url":"https://api.github.com/users/personalrobotics/following{/other_user}","gists_url":"https://api.github.com/users/personalrobotics/gists{/gist_id}","starred_url":"https://api.github.com/users/personalrobotics/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/personalrobotics/subscriptions","organizations_url":"https://api.github.com/users/personalrobotics/orgs","repos_url":"https://api.github.com/users/personalrobotics/repos","events_url":"https://api.github.com/users/personalrobotics/events{/privacy}","received_events_url":"https://api.github.com/users/personalrobotics/received_events","type":"Organization","site_admin":false},"repo":{"id":21152391,"name":"prpy","full_name":"personalrobotics/prpy","owner":{"login":"personalrobotics","id":4705918,"avatar_url":"https://avatars.githubusercontent.com/u/4705918?v=3","gravatar_id":"","url":"https://api.github.com/users/personalrobotics","html_url":"https://github.com/personalrobotics","followers_url":"https://api.github.com/users/personalrobotics/followers","following_url":"https://api.github.com/users/personalrobotics/following{/other_user}","gists_url":"https://api.github.com/users/personalrobotics/gists{/gist_id}","starred_url":"https://api.github.com/users/personalrobotics/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/personalrobotics/subscriptions","organizations_url":"https://api.github.com/users/personalrobotics/orgs","repos_url":"https://api.github.com/users/personalrobotics/repos","events_url":"https://api.github.com/users/personalrobotics/events{/privacy}","received_events_url":"https://api.github.com/users/personalrobotics/received_events","type":"Organization","site_admin":false},"private":false,"html_url":"https://github.com/personalrobotics/prpy","description":"Python utilities used by the Personal Robotics Laboratory.","fork":false,"url":"https://api.github.com/repos/personalrobotics/prpy","forks_url":"https://api.github.com/repos/personalrobotics/prpy/forks","keys_url":"https://api.github.com/repos/personalrobotics/prpy/keys{/key_id}","collaborators_url":"https://api.github.com/repos/personalrobotics/prpy/collaborators{/collaborator}","teams_url":"https://api.github.com/repos/personalrobotics/prpy/teams","hooks_url":"https://api.github.com/repos/personalrobotics/prpy/hooks","issue_events_url":"https://api.github.com/repos/personalrobotics/prpy/issues/events{/number}","events_url":"https://api.github.com/repos/personalrobotics/prpy/events","assignees_url":"https://api.github.com/repos/personalrobotics/prpy/assignees{/user}","branches_url":"https://api.github.com/repos/personalrobotics/prpy/branches{/branch}","tags_url":"https://api.github.com/repos/personalrobotics/prpy/tags","blobs_url":"https://api.github.com/repos/personalrobotics/prpy/git/blobs{/sha}","git_tags_url":"https://api.github.com/repos/personalrobotics/prpy/git/tags{/sha}","git_refs_url":"https://api.github.com/repos/personalrobotics/prpy/git/refs{/sha}","trees_url":"https://api.github.com/repos/personalrobotics/prpy/git/trees{/sha}","statuses_url":"https://api.github.com/repos/personalrobotics/prpy/statuses/{sha}","languages_url":"https://api.github.com/repos/personalrobotics/prpy/languages","stargazers_url":"https://api.github.com/repos/personalrobotics/prpy/stargazers","contributors_url":"https://api.github.com/repos/personalrobotics/prpy/contributors","subscribers_url":"https://api.github.com/repos/personalrobotics/prpy/subscribers","subscription_url":"https://api.github.com/repos/personalrobotics/prpy/subscription","commits_url":"https://api.github.com/repos/personalrobotics/prpy/commits{/sha}","git_commits_url":"https://api.github.com/repos/personalrobotics/prpy/git/commits{/sha}","comments_url":"https://api.github.com/repos/personalrobotics/prpy/comments{/number}","issue_comment_url":"https://api.github.com/repos/personalrobotics/prpy/issues/comments{/number}","contents_url":"https://api.github.com/repos/personalrobotics/prpy/contents/{+path}","compare_url":"https://api.github.com/repos/personalrobotics/prpy/compare/{base}...{head}","merges_url":"https://api.github.com/repos/personalrobotics/prpy/merges","archive_url":"https://api.github.com/repos/personalrobotics/prpy/{archive_format}{/ref}","downloads_url":"https://api.github.com/repos/personalrobotics/prpy/downloads","issues_url":"https://api.github.com/repos/personalrobotics/prpy/issues{/number}","pulls_url":"https://api.github.com/repos/personalrobotics/prpy/pulls{/number}","milestones_url":"https://api.github.com/repos/personalrobotics/prpy/milestones{/number}","notifications_url":"https://api.github.com/repos/personalrobotics/prpy/notifications{?since,all,participating}","labels_url":"https://api.github.com/repos/personalrobotics/prpy/labels{/name}","releases_url":"https://api.github.com/repos/personalrobotics/prpy/releases{/id}","deployments_url":"https://api.github.com/repos/personalrobotics/prpy/deployments","created_at":"2014-06-24T04:44:39Z","updated_at":"2016-04-25T14:58:47Z","pushed_at":"2016-08-29T20:09:40Z","git_url":"git://github.com/personalrobotics/prpy.git","ssh_url":"git@github.com:personalrobotics/prpy.git","clone_url":"https://github.com/personalrobotics/prpy.git","svn_url":"https://github.com/personalrobotics/prpy","homepage":"","size":1666,"stargazers_count":6,"watchers_count":6,"language":"Python","has_issues":true,"has_downloads":true,"has_wiki":false,"has_pages":false,"forks_count":9,"mirror_url":null,"open_issues_count":58,"forks":9,"open_issues":58,"watchers":6,"default_branch":"master"}},"base":{"label":"personalrobotics:master","ref":"master","sha":"46433cb7aaec48b2824fa1461e35c20df23584ea","user":{"login":"personalrobotics","id":4705918,"avatar_url":"https://avatars.githubusercontent.com/u/4705918?v=3","gravatar_id":"","url":"https://api.github.com/users/personalrobotics","html_url":"https://github.com/personalrobotics","followers_url":"https://api.github.com/users/personalrobotics/followers","following_url":"https://api.github.com/users/personalrobotics/following{/other_user}","gists_url":"https://api.github.com/users/personalrobotics/gists{/gist_id}","starred_url":"https://api.github.com/users/personalrobotics/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/personalrobotics/subscriptions","organizations_url":"https://api.github.com/users/personalrobotics/orgs","repos_url":"https://api.github.com/users/personalrobotics/repos","events_url":"https://api.github.com/users/personalrobotics/events{/privacy}","received_events_url":"https://api.github.com/users/personalrobotics/received_events","type":"Organization","site_admin":false},"repo":{"id":21152391,"name":"prpy","full_name":"personalrobotics/prpy","owner":{"login":"personalrobotics","id":4705918,"avatar_url":"https://avatars.githubusercontent.com/u/4705918?v=3","gravatar_id":"","url":"https://api.github.com/users/personalrobotics","html_url":"https://github.com/personalrobotics","followers_url":"https://api.github.com/users/personalrobotics/followers","following_url":"https://api.github.com/users/personalrobotics/following{/other_user}","gists_url":"https://api.github.com/users/personalrobotics/gists{/gist_id}","starred_url":"https://api.github.com/users/personalrobotics/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/personalrobotics/subscriptions","organizations_url":"https://api.github.com/users/personalrobotics/orgs","repos_url":"https://api.github.com/users/personalrobotics/repos","events_url":"https://api.github.com/users/personalrobotics/events{/privacy}","received_events_url":"https://api.github.com/users/personalrobotics/received_events","type":"Organization","site_admin":false},"private":false,"html_url":"https://github.com/personalrobotics/prpy","description":"Python utilities used by the Personal Robotics Laboratory.","fork":false,"url":"https://api.github.com/repos/personalrobotics/prpy","forks_url":"https://api.github.com/repos/personalrobotics/prpy/forks","keys_url":"https://api.github.com/repos/personalrobotics/prpy/keys{/key_id}","collaborators_url":"https://api.github.com/repos/personalrobotics/prpy/collaborators{/collaborator}","teams_url":"https://api.github.com/repos/personalrobotics/prpy/teams","hooks_url":"https://api.github.com/repos/personalrobotics/prpy/hooks","issue_events_url":"https://api.github.com/repos/personalrobotics/prpy/issues/events{/number}","events_url":"https://api.github.com/repos/personalrobotics/prpy/events","assignees_url":"https://api.github.com/repos/personalrobotics/prpy/assignees{/user}","branches_url":"https://api.github.com/repos/personalrobotics/prpy/branches{/branch}","tags_url":"https://api.github.com/repos/personalrobotics/prpy/tags","blobs_url":"https://api.github.com/repos/personalrobotics/prpy/git/blobs{/sha}","git_tags_url":"https://api.github.com/repos/personalrobotics/prpy/git/tags{/sha}","git_refs_url":"https://api.github.com/repos/personalrobotics/prpy/git/refs{/sha}","trees_url":"https://api.github.com/repos/personalrobotics/prpy/git/trees{/sha}","statuses_url":"https://api.github.com/repos/personalrobotics/prpy/statuses/{sha}","languages_url":"https://api.github.com/repos/personalrobotics/prpy/languages","stargazers_url":"https://api.github.com/repos/personalrobotics/prpy/stargazers","contributors_url":"https://api.github.com/repos/personalrobotics/prpy/contributors","subscribers_url":"https://api.github.com/repos/personalrobotics/prpy/subscribers","subscription_url":"https://api.github.com/repos/personalrobotics/prpy/subscription","commits_url":"https://api.github.com/repos/personalrobotics/prpy/commits{/sha}","git_commits_url":"https://api.github.com/repos/personalrobotics/prpy/git/commits{/sha}","comments_url":"https://api.github.com/repos/personalrobotics/prpy/comments{/number}","issue_comment_url":"https://api.github.com/repos/personalrobotics/prpy/issues/comments{/number}","contents_url":"https://api.github.com/repos/personalrobotics/prpy/contents/{+path}","compare_url":"https://api.github.com/repos/personalrobotics/prpy/compare/{base}...{head}","merges_url":"https://api.github.com/repos/personalrobotics/prpy/merges","archive_url":"https://api.github.com/repos/personalrobotics/prpy/{archive_format}{/ref}","downloads_url":"https://api.github.com/repos/personalrobotics/prpy/downloads","issues_url":"https://api.github.com/repos/personalrobotics/prpy/issues{/number}","pulls_url":"https://api.github.com/repos/personalrobotics/prpy/pulls{/number}","milestones_url":"https://api.github.com/repos/personalrobotics/prpy/milestones{/number}","notifications_url":"https://api.github.com/repos/personalrobotics/prpy/notifications{?since,all,participating}","labels_url":"https://api.github.com/repos/personalrobotics/prpy/labels{/name}","releases_url":"https://api.github.com/repos/personalrobotics/prpy/releases{/id}","deployments_url":"https://api.github.com/repos/personalrobotics/prpy/deployments","created_at":"2014-06-24T04:44:39Z","updated_at":"2016-04-25T14:58:47Z","pushed_at":"2016-08-29T20:09:40Z","git_url":"git://github.com/personalrobotics/prpy.git","ssh_url":"git@github.com:personalrobotics/prpy.git","clone_url":"https://github.com/personalrobotics/prpy.git","svn_url":"https://github.com/personalrobotics/prpy","homepage":"","size":1666,"stargazers_count":6,"watchers_count":6,"language":"Python","has_issues":true,"has_downloads":true,"has_wiki":false,"has_pages":false,"forks_count":9,"mirror_url":null,"open_issues_count":58,"forks":9,"open_issues":58,"watchers":6,"default_branch":"master"}},"_links":{"self":{"href":"https://api.github.com/repos/personalrobotics/prpy/pulls/353"},"html":{"href":"https://github.com/personalrobotics/prpy/pull/353"},"issue":{"href":"https://api.github.com/repos/personalrobotics/prpy/issues/353"},"comments":{"href":"https://api.github.com/repos/personalrobotics/prpy/issues/353/comments"},"review_comments":{"href":"https://api.github.com/repos/personalrobotics/prpy/pulls/353/comments"},"review_comment":{"href":"https://api.github.com/repos/personalrobotics/prpy/pulls/comments{/number}"},"commits":{"href":"https://api.github.com/repos/personalrobotics/prpy/pulls/353/commits"},"statuses":{"href":"https://api.github.com/repos/personalrobotics/prpy/statuses/883da31636a427d673792ec957d363ca57ee8eaf"}}}}
{"actor":{"display_login":"cdellin"}}