OMPL - how to use a PRM

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agsdyson
Posts: 30
Joined: 13 Feb 2019, 14:02

OMPL - how to use a PRM

Post by agsdyson » 28 Feb 2019, 11:11

I've been looking at the documentation and source code of the OMPL plugin for VREP but I'm still confused by how PRM's work in VREP.

If I am using RRT or any single query path planning algorithm I create a task, execute the compute() function and get a result.

If I use a probabilistic roadmap, I ideally want to create a task, precompute the paths for some period of time, then at run-time I want to make multiple queries from the precomputed results.

As far as I can see the API does not support this functionality. Am I missing something?

Thanks

Uli_v
Posts: 23
Joined: 14 Dec 2018, 18:07

Re: OMPL - how to use a PRM

Post by Uli_v » 12 Mar 2019, 21:19

I also tried to do a query via PRM after building a roadmap. There seem to be missing implementation/bug in the OMPL-plugin, see my post here: viewtopic.php?f=5&t=7707&p=30124&hilit=PRM#p30124

agsdyson
Posts: 30
Joined: 13 Feb 2019, 14:02

Re: OMPL - how to use a PRM

Post by agsdyson » 18 Mar 2019, 14:54

Thanks,

@coppelia. Is there a plan to fix this bug in the future?

coppelia
Site Admin
Posts: 7124
Joined: 14 Dec 2012, 00:25

Re: OMPL - how to use a PRM

Post by coppelia » 19 Mar 2019, 09:09

This should have been fixed in V-REP V3.6.1 rev1

Cheers

agsdyson
Posts: 30
Joined: 13 Feb 2019, 14:02

Re: OMPL - how to use a PRM

Post by agsdyson » 19 Mar 2019, 15:39

That's great, thanks!

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