remove max solutions

motionplan/armplanning/constraint_test.go

@@ -56,7 +56,6 @@ func TestIKTolerances(t *testing.T) {
 	// Now verify that setting tolerances to zero allows the same arm to reach that position
 	opt := NewBasicPlannerOptions()
 	opt.GoalMetricType = motionplan.PositionOnly
-	opt.SetMaxSolutions(50)
 
 	request2 := &PlanRequest{
 		FrameSystem:    fs,

motionplan/armplanning/node.go

@@ -146,18 +146,15 @@ func newSolutionSolvingState(ctx context.Context, psc *planSegmentContext) (*sol
 
 	var err error
 
+	const numSolutionsBeforeReturning = 10
 	sss := &solutionSolvingState{
 		psc:                  psc,
 		solutions:            []*node{},
 		failures:             newIkConstraintError(psc.pc.fs, psc.checker),
 		firstSolutionTime:    time.Hour,
 		bestScoreNoProblem:   10000000,
 		bestScoreWithProblem: 10000000,
-		maxSolutions:         psc.pc.planOpts.MaxSolutions,
-	}
-
-	if sss.maxSolutions <= 0 {
-		sss.maxSolutions = defaultSolutionsToSeed
+		maxSolutions:         numSolutionsBeforeReturning,
 	}
 
 	sss.linearSeeds = [][]float64{psc.start.GetLinearizedInputs()}

motionplan/armplanning/planner_options.go

@@ -17,9 +17,6 @@ import (
 const (
 	defaultCollisionBufferMM = 1e-8
 
-	// Number of IK solutions that should be generated before stopping.
-	defaultSolutionsToSeed = 10
-
 	// Check constraints are still met every this many mm/degrees of movement.
 	defaultResolution = 2.0
 
@@ -68,7 +65,6 @@ func NewBasicPlannerOptions() *PlannerOptions {
 	// TODO: RSDK-6079 this should be properly used, and deduplicated with defaultEpsilon, InputIdentDist, etc.
 	opt.GoalThreshold = 0.1
 	// Set defaults
-	opt.MaxSolutions = defaultSolutionsToSeed
 	opt.MinScore = defaultMinIkScore
 	opt.Resolution = defaultResolution
 	opt.Timeout = defaultTimeout
@@ -96,10 +92,6 @@ type PlannerOptions struct {
 	// the goal metric only if the GoalMetricType is ik.ArcLengthConvergence
 	ArcLengthTolerance float64 `json:"arc_length_tolerance"`
 
-	// For the below values, if left uninitialized, default values will be used. To disable, set < 0
-	// Max number of ik solutions to consider
-	MaxSolutions int `json:"max_ik_solutions"`
-
 	// Movements that score below this amount are considered "good enough" and returned immediately
 	MinScore float64 `json:"min_ik_score"`
 
@@ -257,11 +249,6 @@ func (p *PlannerOptions) getGoalMetric(goal referenceframe.FrameSystemPoses) mot
 //  	}, nil
 // }
 
-// SetMaxSolutions sets the maximum number of IK solutions to generate for the planner.
-func (p *PlannerOptions) SetMaxSolutions(maxSolutions int) {
-	p.MaxSolutions = maxSolutions
-}
-
 // SetMinScore specifies the IK stopping score for the planner.
 func (p *PlannerOptions) SetMinScore(minScore float64) {
 	p.MinScore = minScore