{"action":"created","comment":{"url":"https://api.github.com/repos/utiasASRL/batch-informed-trees/pulls/comments/35879346","id":35879346,"diff_hunk":"@@ -1586,23 +1586,21 @@ namespace ompl\n         bool BITstar::IntegratedQueue::isCostWorseThan(const ompl::base::Cost& a, const ompl::base::Cost& b) const\n         {\n             //If b is better than a, then a is worse than b\n-            return this->isCostBetterThan(b, a);\n+            return opt_->isCostBetterThan(b, a);\n         }\n \n \n \n         bool BITstar::IntegratedQueue::isCostEquivalentTo(const ompl::base::Cost& a, const ompl::base::Cost& b) const\n         {\n-            //If a is not better than b, and b is not better than a, then they are equal\n-            return !this->isCostBetterThan(a,b) && !this->isCostBetterThan(b,a);\n+            return (a.value() == b.value());","path":"src/ompl/geometric/planners/bitstar/datastructures/src/IntegratedQueue.cpp","position":159,"original_position":159,"commit_id":"34c5603f9bce24d2dda0f1267a990d19ead64f67","original_commit_id":"34c5603f9bce24d2dda0f1267a990d19ead64f67","user":{"login":"sonny-tarbouriech","id":10675307,"avatar_url":"https://avatars.githubusercontent.com/u/10675307?v=3","gravatar_id":"","url":"https://api.github.com/users/sonny-tarbouriech","html_url":"https://github.com/sonny-tarbouriech","followers_url":"https://api.github.com/users/sonny-tarbouriech/followers","following_url":"https://api.github.com/users/sonny-tarbouriech/following{/other_user}","gists_url":"https://api.github.com/users/sonny-tarbouriech/gists{/gist_id}","starred_url":"https://api.github.com/users/sonny-tarbouriech/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/sonny-tarbouriech/subscriptions","organizations_url":"https://api.github.com/users/sonny-tarbouriech/orgs","repos_url":"https://api.github.com/users/sonny-tarbouriech/repos","events_url":"https://api.github.com/users/sonny-tarbouriech/events{/privacy}","received_events_url":"https://api.github.com/users/sonny-tarbouriech/received_events","type":"User","site_admin":false},"body":"+1 for your defensive argumentation  :smile: ","created_at":"2015-07-30T14:56:37Z","updated_at":"2015-07-30T14:56:37Z","html_url":"https://github.com/utiasASRL/batch-informed-trees/pull/41#discussion_r35879346","pull_request_url":"https://api.github.com/repos/utiasASRL/batch-informed-trees/pulls/41","_links":{"self":{"href":"https://api.github.com/repos/utiasASRL/batch-informed-trees/pulls/comments/35879346"},"html":{"href":"https://github.com/utiasASRL/batch-informed-trees/pull/41#discussion_r35879346"},"pull_request":{"href":"https://api.github.com/repos/utiasASRL/batch-informed-trees/pulls/41"}}},"pull_request":{"url":"https://api.github.com/repos/utiasASRL/batch-informed-trees/pulls/41","id":41177894,"html_url":"https://github.com/utiasASRL/batch-informed-trees/pull/41","diff_url":"https://github.com/utiasASRL/batch-informed-trees/pull/41.diff","patch_url":"https://github.com/utiasASRL/batch-informed-trees/pull/41.patch","issue_url":"https://api.github.com/repos/utiasASRL/batch-informed-trees/issues/41","number":41,"state":"open","locked":false,"title":"Support BITstar use in MoveIt, generic implementation of cost functions to support all optimization objectives","user":{"login":"sonny-tarbouriech","id":10675307,"avatar_url":"https://avatars.githubusercontent.com/u/10675307?v=3","gravatar_id":"","url":"https://api.github.com/users/sonny-tarbouriech","html_url":"https://github.com/sonny-tarbouriech","followers_url":"https://api.github.com/users/sonny-tarbouriech/followers","following_url":"https://api.github.com/users/sonny-tarbouriech/following{/other_user}","gists_url":"https://api.github.com/users/sonny-tarbouriech/gists{/gist_id}","starred_url":"https://api.github.com/users/sonny-tarbouriech/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/sonny-tarbouriech/subscriptions","organizations_url":"https://api.github.com/users/sonny-tarbouriech/orgs","repos_url":"https://api.github.com/users/sonny-tarbouriech/repos","events_url":"https://api.github.com/users/sonny-tarbouriech/events{/privacy}","received_events_url":"https://api.github.com/users/sonny-tarbouriech/received_events","type":"User","site_admin":false},"body":"Hi Jonathan,\r\nI create this PR in case you want to see the changes I made in your code to have a working version with MoveIt!. I also adapted the functions you implemented in BITstar and IntegratedQueue classes that make operations on costs. Now objectives that maximize the cost function can also be used. 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