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sscbirrt releases v3.8.0 with open motion validation
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personalrobotics/sscbirrt releases v3.8.0, with the public motion validation feature sscbirrt.Validator, which can validate a single state, a segment of motion, or an entire path, and returns a ValidationReport (valid, or the first invalid state along with its failure type, contact, and other information). This validator is the planner's own check: the planner returns only after the entire path has passed validation, and paths that fail validation are not returned. This version also fixes the rounding tolerance for edge subdivision: an edge of length d is checked in max(1, ceil(d / resolution - 1e-9)) intervals, consistent between the planner and the validator. On benchmark problems, search state checks are reduced by 4-14% (door about 1%), and all problems still succeed 100% of the time.
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- personalrobotics/sscbirrt releases v3.8.0: public motion validator and edge subdivision rounding fix
personalrobotics/sscbirrt released v3.8.0, which makes motion validation public as sscbirrt.Validator, able to validate states, motions, paths, and timed trajectories; the planner returns a path or trajectory only after the validator accepts it. Edge subdivision now includes a rounding tolerance, reducing search state checks on benchmark problems by 4-14% (about 1% for door), with all problems still succeeding 100%; seeded paths differ from 3.7, while reference artifact cases and states are unchanged.
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