Speed of simxCallScriptFunction

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hiros
Posts: 6
Joined: 06 May 2020, 03:28

Speed of simxCallScriptFunction

Post by hiros »

Hello,

I have been using a legacy remote API with simxCallScriptFuction to complement the missing functionalities.
I tried to use sim.CheckCollision function with my own OMPL project; however, its planning result is way slower than the official OMPL plugin.
I guess it is due to the collision check (sim.CheckCollision) via simxCallScriptFunction.

Question:
If we compare the processing time between the provided remote API and the same functionality with simxCallScriptFunction, is simxCallScriptFunction generally slower than the provided remote API?

If the answer to the question is yes, I'd consider moving to BlueZero API.

Thanks,

coppelia
Site Admin
Posts: 8047
Joined: 14 Dec 2012, 00:25

Re: Speed of simxCallScriptFunction

Post by coppelia »

Hello,

if I understood this correctly, you are trying to use the OMPL library in your application, and use CoppeliaSim's collision detection functionality?

The problem with this is indeed speed, since path planning normally tests thousands of different configurations to find a path, and having a communication delay between each testing would extremely slow down things.

You have two better ways of doing this:
Cheers

hiros
Posts: 6
Joined: 06 May 2020, 03:28

Re: Speed of simxCallScriptFunction

Post by hiros »

Yes, that is exactly what I want to do.
Thanks for your reply, that is really helpful.

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