ros-planning/moveit_planners — pull request #15 by davetcoleman (2013-06-26 17:13:38+00:00)
Title: Added ability to change planner configurations in the interface

Changes:

* Converted all std::vector to std::map
* Added hooks to getPlanningConfigurations() and setPlanningConfigurations() in various places
* Created a new cost function based on distance between joint positions. Made this default - should it be? Or should we stick with proximity to collisions cost?
* Added assignment such that the planning context config is reloaded every time a new plan is generated, regardless of the cached planning context

My apologies for the formatting changes, I undid some of it but its a lot of work.