All you need to do is comment one of the following 2 lines, run the simulation and look at the terminal and check "Info: PRMstar: Created xxx states."
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- Why is the callback function slower? Shouldn't both methods perform the same operations (e.g. reading/writing states and collision checking)? Are there any additional operations by the callback that slow it down?
Or is it because LUA script is slower than the compiled plugin?
- Would I get a speed up by implementing the state validation on the plugin side instead of using a callback function? It might not be straight forward implementing that on the plugin side.
In general I would like planning to run as fast as possible. I noticed that when running OMPL planning, that only one CPU core is fully utilized. How could I run planning on several CPUs? Do I need to run several instances of identical V-REP scenes? But how would I "distribute" the work and "combine" the results for planning in several environments"?