OMPL - how to use a PRM
Posted: 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
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