[ompl-users] defining goals in python

[Tom T. <tom...@ve...>]

I'm trying to tease out how the "intermediate level" goal definitions are 
accomplished in python.

All of the python examples use simple, singular representations of the goal. 
I've been unable to successfully subclass the goal class in python.  My have 
attempts have been of the form:

class MyGoal(base.Goal):
   def __init__(self,si):
     super(MyGoal,self).__init__(si)

   def isSatisfied(self, state, tol=.01):
        ...
...
prob = base.ProblemDefinition(si)
goal = MyGoal(si)
prob.setGoal(goal)
prob.addStartState(s1)
planner = geometric.RRT(si)
planner.setProblemDefinition(prob)
planner.setup()
solved = planner.solve(10.0)

this errors with something inscrutable (to me):
TypeError: No to_python (by-value) converter found for C++ type: double
And this error occurs before isSatisfied gets called.

Of course it could be a bug in my code but I don't see how. I'm hoping that 
someone can confirm that this part of the API works as expected.  Better still 
would be to say: "You didn't look hard enough, bonehead! There is a code sample 
right here <link/>"

Thanks, all

-- 
Tom Temple, PhD.
Scientist
tom...@ve...
617-674-8544 (office)
617-833-5130 (mobile)
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