Re: [ompl-users] Can I get the roadmap from the planner say PRM

[Vinay K <vin...@gm...>]

Thanks Ioan.

On Wed, Nov 16, 2011 at 1:15 AM, Ioan Sucan <is...@gm...> wrote:

> Vinay,
>
> The simplest thing to do is inherit from the PRM class and implement the
> constructSolution() function. This function is called by solve() when a
> start & a goal state are found to be in the same connected component.
> Make sure you get the latest repo version of OMPL, so you have the
> function in question is marked as virtual.
> Calling just growRoadmap () does not add the start & goal states to the
> roadmap.
> If you called solve(), getRoadmap() will include the start & goal states.
>
> About your ROS question, the short answer is yes. There is no limitation
> on what you can do in your validity checker. You should look at the
> ompl_ros_interface package, as that is where you will need to make the
> changes.
>
> Ioan
>
>
> On Wed, Nov 16, 2011 at 6:39 AM, Vinay K <vin...@gm...> wrote:
>
>> Hi Ioan,
>>
>> Thanks for your reply. You interpreted my problem very well. I just want
>> to replace the path search function (A* and its variants) with my own
>> search algorithm.
>>
>> Given a start and goal state, first I want to generate roadmap (say using
>> PRM) using your ompl. This roadmap includes start and goal states. Once the
>> roadmap is created then I can use my path search algorithm on the top of
>> that and return path.
>>
>> Can you please tell me the best possible way to do that?  Do I need
>> to override the constructSolution() step of PRM? It seems that you make the
>> roadmap and connect start and goal states in "solve()" function, In that
>> case roadmap given by PRM::getRoadmap() function doesn't include goal and
>> start states??
>>
>> Also I have one more question: If I am using ompl with ros then defining
>> a "bool StateValidityChecker(state)" function and returning the addresss of
>> this function to ompl 'll do the work? And I can do state validity check
>> within this function using costmap, octree..etc?
>>
>> Thanks,
>> Vinay
>>
>>
>>
>>
>>
>>
>> On Tue, Nov 15, 2011 at 12:25 AM, Ioan Sucan <is...@gm...> wrote:
>>
>>> Hello Vinay,
>>>
>>> I am not sure what you mean when you say you want a roadmap in exchange
>>> for a start & goal.
>>> You can certainly call the PRM::getRoadmap() function which will return
>>> a boost graph of the roadmap that is currently in use for the planner. You
>>> can grow this roadmap by calling the growRoadmap function too, no need fo
>>> start & goal states. The start & goal are needed when you do solve().
>>> It seems what you would like to do is override the constructSolution()
>>> step of PRM. That function is not currently virtual, but if you would like
>>> me to make it virtual, so you can inherit from PRM and just change the path
>>> search step, I can do so. Let me know.
>>>
>>> Ioan
>>>
>>>
>>> On Tue, Nov 15, 2011 at 5:46 AM, Vinay K <vin...@gm...> wrote:
>>>
>>>> Hello,
>>>>
>>>> I have designed a new planner which 'll replace A* (and its variants)
>>>> to search for the path from the generated roadmap.
>>>> I haven't ventured that much into ompl files. I am curious to know is
>>>> there any way global planner (say PRM) can return
>>>> the roadmap instead of path. Is there any function which can return
>>>> roadmap in return of "start" and "goal" given that "statevaliditychecker"
>>>> has been set?
>>>>
>>>> Thanks,
>>>>
>>>>
>>>>
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>>>
>>
>