Search found 16 matches

by Uli_v
29 Jan 2019, 17:50
Forum: Bug reports
Topic: OMPL plugin bug for multi query (e.g. PRM)
Replies: 0
Views: 101

OMPL plugin bug for multi query (e.g. PRM)

Hi, For multiquery I had to clear the solutions from a previous query, or otherwise it returns the solution for previous start config if previous solution is better (lower cost). I also had to add PRMstar ( || task->algorithm == sim_ompl_algorithm_PRMstar). See function below: void setStartState(SSc...
by Uli_v
29 Jan 2019, 16:49
Forum: Bug reports
Topic: OMPL planner creates only a small number of states in roadmap/graph
Replies: 3
Views: 230

Re: OMPL planner creates only a small number of states in roadmap/graph

Thanks for the help with the eigen3 issue. OMPL plugin with OMPL 1.4.2 is compiling now. But I needed to change the lines to compile (e.g. add "Release" in the path, and use unly a single "." at the end). See below export CXXFLAGS=-isystem\ /usr/include/eigen3/ #or wherever it is located cmake -DOMP...
by Uli_v
29 Jan 2019, 16:20
Forum: Bug reports
Topic: OMPL planner creates only a small number of states in roadmap/graph
Replies: 3
Views: 230

Re: OMPL planner creates only a small number of states in roadmap/graph

Remember to fix the following issue related to OMPL when updating V-REP with the newest OMPL version: http://www.forum.coppeliarobotics.com/viewtopic.php?f=5&t=7642&p=29929#p29929 Could you also add support for SO2 and SO3 in the plugin? Similar to this issue: http://www.forum.coppeliarobotics.com/v...
by Uli_v
28 Jan 2019, 23:02
Forum: Bug reports
Topic: OMPL planner creates only a small number of states in roadmap/graph
Replies: 3
Views: 230

OMPL planner creates only a small number of states in roadmap/graph

Hi, I am sharing the following scene (3DoFHolonomicPathPlanning demo modified to use PRMstar with 10 seconds planning time): https://drive.google.com/open?id=1JFzqdKKG1tVzCc4RHkLHa_2g5HjfgoW0 I have added some debug information (e.g. number of total collision checks and number of collisions) Info: P...
by Uli_v
25 Jan 2019, 22:19
Forum: General questions
Topic: How to I create a state space for OMPL planning in 3D pos + 1D rotation?
Replies: 3
Views: 336

Re: How to I create a state space for OMPL planning in 3D pos + 1D rotation?

Thank you. That is an interesting alternative if you do not want to modify the OMPL plugin.
by Uli_v
25 Jan 2019, 22:15
Forum: Bug reports
Topic: OMPL state validation callback is 2-3 times slower than using default state validation checking
Replies: 3
Views: 151

Re: OMPL state validation callback is 2-3 times slower than using default state validation checking

Okay thanks, so calling V-REP API function via LUA scripts is slower than calling c-functions from the plugin side. About using multiple CPUs. Maybe I can run several instances of V-REP (as well as several PMPL plugins) in parallel? I would need to do path planning for different scenes anyway (e.g. ...
by Uli_v
24 Jan 2019, 18:19
Forum: Bug reports
Topic: OMPL state validation callback is 2-3 times slower than using default state validation checking
Replies: 3
Views: 151

OMPL state validation callback is 2-3 times slower than using default state validation checking

I noticed that using simOMPL.setStateValidationCallback is slower than using the default state validation (e.g. specifying collision pairs by simOMPL.setCollisionPairs). I have implemented the same collision checking in the callback function that I would expect to be implemented by default when no c...
by Uli_v
23 Jan 2019, 19:08
Forum: General questions
Topic: How to I create a state space for OMPL planning in 3D pos + 1D rotation?
Replies: 3
Views: 336

Re: How to I create a state space for OMPL planning in 3D pos + 1D rotation?

I solved my problem the following way. I modified the OMPL plugin and added the SO2 state space type (similar to SE2 for pose2d). Now I can build my state space by combining position3d and SO2 like below: local sub_state_3d = simOMPL.createStateSpace('3d',simOMPL.StateSpaceType.position3d,robotHandl...
by Uli_v
18 Jan 2019, 23:00
Forum: General questions
Topic: How to I create a state space for OMPL planning in 3D pos + 1D rotation?
Replies: 3
Views: 336

How to I create a state space for OMPL planning in 3D pos + 1D rotation?

What is the best way to create a state space with 3D position plus 1 rotation about one of the principal axis of the 3D position space? Can I add a 1D position to the 2D pose state space? if yes, could you give me an example how? Thank you.