Re: [ompl-users] Access PathGeometric in Python

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

ScopedState objects can be created like so:

space = ob.RealVectorStateSpace(3)
...
ss = simpleSetup(space)
...
if ss.solve(10):
	# PathGeometric object
	path = ss.getSolutionPath()
	# python list of lists of doubles
	n = len(path.states) 
	path = [[ob.State(space, path.states[i])[j] for j in range(3)] for i in range(n)]
	print path 

The "ob.State(space, path.states[i])” part creates the ScopedState object. You can look at the ompl_app.py code to see how you’d convert SE(2) and SE(3) states to transformation matrices.

On Aug 6, 2011, at 4:35 AM, Gustavo Goretkin wrote:
> I'd like to access a PathGeometric object as a Numpy array. I can loop through PathGeometric.states, which is a collection of RealVectorStateInternal (or the appropriate state depending on the manifold) but as [1] suggests, this is not the best way. How can I get the ScopedState objects?
> 
> Thanks,
> Gustavo
> 
> [1] http://ompl-beta.kavrakilab.org/core/python.html#cpp_py_diffs

-- 
Mark Moll