Added variable time steps for vector field planner #76
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mkoval
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Apr 1, 2015
…nner_timestepping Added variable time steps for vector field planner
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This PR allows us to specify an optional parameter to the vector field planner that trades off vector field evaluation and collision checking. The parameter
dt_multiplierintegrates the vector field forward linearly by up tofloor(dt_multiplier)times the DOF resolution before evaluating the vector field again.As this value increases, the planner will be faster but will follow the vector field less faithfully.