Add other constraint in OMPL task solver
Posted: 02 Oct 2021, 01:55
Hi,
My problem requires the path solved by motion planning to satisfy position and orientation constraints. I went through OMPL API and an example code of motion planning, it seems I need to write my custom isStateValidCallback function to overwrite the default one that only does collision checking. My question is, if I overwrite that, do I need to explicitly call collsiion checking along with constraint checking in this callback function? If so, which API should I use?
My problem requires the path solved by motion planning to satisfy position and orientation constraints. I went through OMPL API and an example code of motion planning, it seems I need to write my custom isStateValidCallback function to overwrite the default one that only does collision checking. My question is, if I overwrite that, do I need to explicitly call collsiion checking along with constraint checking in this callback function? If so, which API should I use?