Hi V-REP support team,
Is there a way to extract the graph that the OMPL planner uses?
I would like to construct a graph using OMPL, and then run my own optimizer over it to find the shortest path because I want to use the same graph for multiple runs. I tried using the simOMPL.getData function, but I must be using it incorrectly because V-REP crashes when I run my simulation.
Edit: By graph I mean a list of vertices and edges.
Extracting graph from OMPL planner
Re: Extracting graph from OMPL planner
You can extract it with the simOMPL.getPath function.
By the way, OMPL has optimizing path planners, and also multi-query path planners, so you might probably want to check those out first.
By the way, OMPL has optimizing path planners, and also multi-query path planners, so you might probably want to check those out first.
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- Posts: 2
- Joined: 11 May 2018, 23:25
Re: Extracting graph from OMPL planner
Thanks for your response.
Unfortunately I do not want the path from my start and goal point, I want all the vertices and edges that the planner searches through, and getPath only returns a solution. I would like a graph that overlays my entire map, and has at least one path to the goal.
On another note, is there a simple way to use the OMPL multi-query path planners in V-REP? Or will I need to customize the OMPL plugin to do so?
Unfortunately I do not want the path from my start and goal point, I want all the vertices and edges that the planner searches through, and getPath only returns a solution. I would like a graph that overlays my entire map, and has at least one path to the goal.
On another note, is there a simple way to use the OMPL multi-query path planners in V-REP? Or will I need to customize the OMPL plugin to do so?
Re: Extracting graph from OMPL planner
From what I can see, the functions to access graph (e.g. roadmaps) are implemented in each planner class, and not in the ompl::base::Planner class.
Currently there is no API to access that from the OMPL plugin, unless you modify it.
On the other hand, multi-query planners use the same interface of all planners, so you just need to select the planning algorithm.
Currently there is no API to access that from the OMPL plugin, unless you modify it.
On the other hand, multi-query planners use the same interface of all planners, so you just need to select the planning algorithm.