Re: [ompl-users] saving PRM roadmap

[Mark M. <mm...@ri...>]

Hi Pablo,

On Jul 28, 2014, at 10:30 AM, Pablo Bustos <pb...@un...> wrote:
> is it possible to save PRM's roadmap to disk after a running session and later initialize the planner with that same file?

Any planner in OMPL can return the states and edges between them in the form of a PannerData object. Such objects can be stored and loaded again via the PannerDataStorage class. See ompl/demos/PlannerData.cpp for a demo program. The internal data structures of each planner are not preserved in PlannerData, so you can’t just restart a planner from previously computed PlannerData. Although that would be useful, it’s also a lot of work to serialize/deserialize the internal data structures for each planner.

-- 
Mark Moll