ompl/ompl — pull request #26 by jvgomez (2014-07-27 19:30:32+00:00)
Title: maxSampleAttemps_ logic removed.

The intention of this variable was ok, but it was not correctly implemented: if the numSamples change it did not change. However, although that was an easy fix, there is a theoretical problem with this variable. Let's say we want 1000 samples, so the sampleAttemps is set to 10000 (ten times more by default) we run FMT and get a cost c1. Now we do it for 2000 samples. Theory says that this new experiment should, most of the times, return a better solution. However, that is for 2000 _sampled samples_ , it could happen that we want 2000 samples, sampleAttemps is set therefore to 20000 but it is a hard environment so that the actual samples are much less than 2000, so the optimal convergence will not work.

Now, we sample until the algorithm get numSamples: valid samples. It could happen that ptc trigger true before that... but well, that is a negative characteristic of this algorithm.