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simOMPL Optimal Path Planning Optimization Objective?

Posted: 31 Dec 2019, 23:06
by dschreib
Is it possible to change the optimization objective for an OMPL optimal path planner using VREP? I would like to use the MaximizeMinClearanceObjective.

Separately, for a multi-query planner is it possible to specify the multiple goals in task space rather than configuration space?

Re: simOMPL Optimal Path Planning Optimization Objective?

Posted: 03 Jan 2020, 15:29
by fferri
OMPL's optimization objectives are not currently supported.
I can add support for simple (i.e. not-compound) optimization objectives, however it will not be possible to fully support the programming interface described here.

If you have an idea of how the OMPL plugin Lua API for this aspect should look like, I'll appreciate if you can provide one (or more) small examples of Lua code for typical use cases, i.e. what missing functions should be added in the plugin.

For your second question, do you have a reference example in OMPL and C++? Off top of my head, goal callbacks is what is currently available in the OMPL plugin.