From: Pablo B. <pb...@un...> - 2014-07-28 18:39:55
|
Thanks for the explanation Mark, but just to be clear, PRM-like planners cannot be restarted a second time with the previously learnt roadmap? and if so, "long-life" learning of a robot's environment cannot be performed, at least without serious work on the code? Thanks, Pablo On Mon, Jul 28, 2014 at 6:36 PM, Mark Moll <mm...@ri...> wrote: > 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 > > > > -- Pablo Bustos García de Castro Laboratorio de Robótica y Visión Artificial http://robolab.unex.es Escuela Politécnica Universidad de Extremadura Avda de la Universidad s/n Cáceres 10003 Phone: +34 927 257259 Fax: +34 927 257203 |