Experience Planners in simExtOMPL

[ohnowhathaveidone]

Not sure, if this is better placed here, or as a github issue...

From the sources for simExtOMPL, I saw that ompl/geometric/planners/experience/LightningRetrieveRepair is currently commented out. Is there a particular implementation issue with planners that use experience-based approaches? I have a usecase where Lightning or Thunder would be interesting to have.

If I get some hints on the caveats with this, I'll give the implementation a shot myself. Depending on if this works out and how much of a crutch it is, it could be a good addition to CoppeliaSim's capabilities. So I'd obviously share the code.


Cheers!

[fferri]

Can't remember off the top of my head why is that so. Did you try uncommenting it out and see what happens? That would probably give you the answers you need.

[ohnowhathaveidone]

Yeah, that'll probably give me the hints that I need. I'll give it a shot, thanks!

[ohnowhathaveidone]

Quick update: The reason seems to be that simExtOMPL only passes space information to the planner, but experience planners - obviously - require a second argument pointing to an experience database. Makes sense.

I'll see if I can come up with a solution for this.