From: Gustavo G. <gus...@gm...> - 2012-02-27 15:22:24
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I get the impression that FLANN builds the data structure in batch and doesn't support adding points (as is required for sample-based motion planning) . I've asked the author about this. Have you used FLANN for motion planning? On Sun, Feb 26, 2012 at 5:43 AM, Gustavo Goretkin <gus...@gm...> wrote: > For on, I'd like to visualize the entire tree, not just the solution > path. I would also like to test out the NearestNeighbors algorithms on > my own distance metric (so yes, Euclidian metric is not what I need) > > Is there any reason to avoid exposing the data structures in OMPL? > > I am working on implementing this: > http://people.csail.mit.edu/aperez/www/stuff/perez_icra12.pdf with the > metric calculation happening in Python. Eventually, I'd be interested > in trying to implement it all within the framework of OMPL. > > Thanks, > Gustavo > On Sat, Feb 25, 2012 at 11:12 PM, Mark Moll <mm...@ri...> wrote: >> It should be possible.The NearestNeighbors classes are templated, though. You can only export fully instantiated types to python. That is, you can only export NearestNeighborsGNAT<int>, NearestNeighborts<State*>, etc. You could also look at the flann library, which already has python bindings. I could be wrong, but I believe that flann assumes a Euclidean distance metric, whereas GNAT doesn’t. It this is something you need (for rotations and rigid body movements, for instance), then GNAT could work. >> >> Can you describe how you’d plan to use this? If this is something that might conceivably be useful for others, we could add the python bindings to OMPL. >> >> On Feb 25, 2012, at 1:27 PM, Gustavo Goretkin wrote: >> >>> I'd like to build Python bindings to the different implementations of >>> NearestNeighbors (specifically GNAT). I'd like to be able to perform >>> queries on and additions to the NearestNeighbors data structure and >>> also iterate through all the Motion objects in the data structure. Are >>> there straightforward changes I could make to generate_bindings.py? >>> >>> I was peering in ompl/py-bindings/bindings/geometric and I see that >>> there are files like NearestNeighbors.pypp.cpp . Does this mean that >>> some of these bindings I want are already being generated? >>> >>> Thank you! >>> Gustavo >> >> -- >> Mark Moll >> >> >> |