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Experience Planners in simExtOMPL

Posted: 19 May 2020, 12:54
by 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.


Re: Experience Planners in simExtOMPL

Posted: 20 May 2020, 08:30
by 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.

Re: Experience Planners in simExtOMPL

Posted: 20 May 2020, 09:00
by ohnowhathaveidone
Yeah, that'll probably give me the hints that I need. I'll give it a shot, thanks!

Re: Experience Planners in simExtOMPL

Posted: 25 May 2020, 13:15
by 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.