### Extracting graph from OMPL planner

Posted:

**15 May 2018, 20:30**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.

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.