Search found 35 matches

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: 796

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: 796

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: 796

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: 765

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: 619

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: 619

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: 765

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: 765

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.
by Uli_v
17 Jan 2019, 17:10
Forum: Bug reports
Topic: OMPL planner changes the position of object after planning.
Replies: 3
Views: 854

OMPL planner changes the position of object after planning.

This post is related to my other post "Changing parent of object changes its position (by a small numerical error)" . I decided to create this post, because the other post is mainly about the issue that changing the parent affects the position of the object. The other post is also much more detailed...