Hello Joan,

The easiest thing to do is to inspect the final state of the solution path after it is returned by PRM.  In OMPL, paths are completely disjoint (in terms of memory) from the planner that constructed them.  Because of this, the index into the goalM_ array of PRM may not mean much.  PRM does not explicitly keep the goal index of the solution path.  You would have to derive a new planner from PRM if you wanted this information.


On Fri, Nov 22, 2013 at 4:41 AM, Joan Fontanals <joan.fontanalsmartinez@dlr.de> wrote:
Hello everybody

I am using PRM with multiple goals.I would like the planner to tell me
which of the goals has it reached the Start configuration. I mean which
index of the goalM_ array is the one that the planner has found a path to.

Thank you very much


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Ryan Luna