I am sharing the following scene (3DoFHolonomicPathPlanning demo modified to use PRMstar with 10 seconds planning time):
https://drive.google.com/open?id=1JFzqd ... 2g5HjfgoW0
I have added some debug information (e.g. number of total collision checks and number of collisions)
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Info: PRMstar: Space information setup was not yet called. Calling now. Info: PRMstar: Optimization objective specified. Info: PRMstar: Starting planning with 2 states already in datastructure Info: PRMstar: Created 1394 states Info: PRMstar: bestCost_: 4.640044 ob::PlannerStatus solved = task->planner->solve(in->maxTime) took 10035ms Collision check count 166114 In collision check count 13369
In my application, where I plan in 3D+1D rotation for a path of the gripper to a goal config, the planner creates even fewer states:
About 300 states in 10 seconds. It is probably lower, because the collision checking is slower (about 55k in 10 seconds). But in my case only about 2.4% of states are in collision (1337/55k=2.4%).
I am in contact with one of the OMPL lead developer for advice and he finds it strange, that only so few states are created. He suggested to update V-REP to use the latest OMPL version with V-REP (1.4.2). Currently V-REP uses 1.1.0 (I believe).
If I try to compile the V-REP plugin for OMPL 1.4.2, I get the following error. It was able to recompile V-REP plugin with OMPL 1.1.0 (but not 1.4.2):
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Scanning dependencies of target v_repExtOMPL [ 33%] Building CXX object CMakeFiles/v_repExtOMPL.dir/plugin.cpp.o In file included from /usr/local/include/ompl/base/StateSpace.h:43:0, from /usr/local/include/ompl/base/SpaceInformation.h:43, from /usr/local/include/ompl/base/Goal.h:41, from /home/uli/Software/V-REP_OMPL_plugin_1.4.2/v_repExtOMPL/plugin.cpp:7: /usr/local/include/ompl/base/ProjectionEvaluator.h:49:22: fatal error: Eigen/Core: No such file or directory compilation terminated.