Re: [ompl-users] NearestNeighbors Python bindings

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

I corresponded with the Marius, the author of FLANN. For now it
doesn't support incrementally building the index, but that is a
high-priority feature on the to-do list.

I'd appreciate any guidance on adding bindings to specific instances
of nearest neighbors -- namely NearestNeighborsGNAT<Motions*>, which
is used by the RRT* implementation.

On Mon, Feb 27, 2012 at 10:21 AM, Gustavo Goretkin
<gus...@gm...> wrote:
> 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
>>>
>>>
>>>