OMPL Path Structure
Posted: 16 Feb 2021, 15:31
Hi,
I am looking at the 3DoFHolonomicPathPlanning scene and I am just trying to work out the structure of the path returned by OMPL.
Here is a snippet of the relevent code from the demo
My question is that as for pos x and y are set to path [ i] and path[i + 1] is the path returned by OMPL structured to be an alternating series of x and then y values?
And if so does this path representation change when selecting an alternate stateSpaceType such as dubins?
I apologise if I have missed some obvious documentation explaining this, thanks!
I am looking at the 3DoFHolonomicPathPlanning scene and I am just trying to work out the structure of the path returned by OMPL.
Here is a snippet of the relevent code from the demo
Code: Select all
r,path=simOMPL.compute(t,4,-1,800)
print(path)
while path do
visualizePath(path)
-- Simply jump through the path points, no interpolation here:
for i=1,#path-3,3 do
pos={path[i],path[i+1],initPos[3]}
orient={initOrient[1],initOrient[2],path[i+2]}
sim.setObjectPosition(robotHandle,-1,pos)
sim.setObjectOrientation(robotHandle,-1,orient)
sim.switchThread()
end
And if so does this path representation change when selecting an alternate stateSpaceType such as dubins?
I apologise if I have missed some obvious documentation explaining this, thanks!