Extending Vrep OMPL API

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Extending Vrep OMPL API

Post by e2718 » 17 Apr 2017, 22:04

Have been looking at VREP's OMPL API and was wondering how to extend it. What I want is to put in a custom cost function for my robot. At the moment this doesn't seem to be supported in the API (just checks for collisions as far as I can tell). Was wondering how to add a cost function or more generally how to extend the VREP-OMPL interface in VREP.

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Re: Extending Vrep OMPL API

Post by coppelia » 18 Apr 2017, 08:32


you can extend the OMPL plugin functionality by directly modifying the OMPL plugin source code, and recompiling it. The source code is located in programming/v_repExtOMPL.

What you can currently also do it set-up a callback routine that will be in charge of validating a given state (by default that state validation will check for collision detection, but you are free to check for other things (e.g. a minimum distance, a cost threashold, etc.)). Have a look at this demo scene, where a minimum distance is checked in the state validation callback, in order to have the item find a path along the wall.


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