Re: [ompl-users] Finite Control Space

[Gustavo G. <gus...@gm...>]

Ioan,

Thanks for the encouragement! I have not yet implemented this, but I
would like to start on it soon. I am considering the following
approach.

Make a RealVectorControlSpaceDiscrete (or better name) that is
constructed with a finite list of vector values. For example a
discrete control space in 2 dimensions where only one dimension should
be non-zero for a given control could be initialized with a list of
vectors like [(0,1) ; (0,-1); (0,0); (1,0); (-1,0)]

If we want a "mesh" control space, where each dimension can be sampled
independently, it would probably better to make several
RealVectorControlSpaceDiscrete spaces (one for each dimension) and
combine them in a CompoundControl.

Thanks,
Gustavo

On Wed, Aug 17, 2011 at 12:25 PM, Ioan Alexandru Sucan <is...@gm...> wrote:
> Gustavo,
>
> Your intuition is correct. If you simply change the sampler for a
> RealVectorControlSpace, things will work as you expect.
>
> However, a  representation of a discrete set of controls
> (DiscreteControlSpace) could be added to OMPL (I am quite inclined to do
> so).
> Please let me know if you would find that useful. Or, if you have it
> implemented (or plan to implement it), we would welcome your contribution.
>
> Thanks for pointing this out!
>
> Ioan
>
> On Wed, Aug 17, 2011 at 4:28 PM, Gustavo Goretkin
> <gus...@gm...> wrote:
>>
>> Are there any facilities in OMPL to describe a finite control space as
>> opposed to a continuous control space? For the kinodynamic motion planners,
>> is the only step that would need to be changed the control sampling step?
>>
>> Thanks,
>> Gustavo
>>
>>
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