Hi there,
Basically, I have been using OMPL for motion planning with a Mico arm, and I was wondering what distance metrics are used in the functions simExtOMPL_solve() and simExtOMPL_simplifyPath() by default? I.e. Given that I have specified the state space as the 6 joints?
Would it be based on a simple distance metric in the 6-dof joint space? Or in end-effector space?
Ideally, I would like to prioritize paths with the shortest end-effector euclidean trajectories.
I have looked at simExtOMPL_setProjectionEvaluationCallback(), and I could define my own projection from 6-dof state space to 3-dof end-effector position. Would this result in simExtOMPL_simplifyPath() finding my the path with shortest end-effector trajectory?
I have read through the OMPL website, but still a bit confused on exactly what is being optimised for in these manipulator cases.
Any help would be greatly appreciated!!
Thanks a lot,
Dan
OMPL Robot Arm Planning - Shortest End-Effector Path
Re: OMPL Robot Arm Planning - Shortest End-Effector Path
Hello Dan,
you can define a metric in simExtOMPL_createStateSpace: the optional weight argument does this.
Cheers
you can define a metric in simExtOMPL_createStateSpace: the optional weight argument does this.
Cheers