Re: [ompl-users] Multi Robot Planning

[Ryan L. <rl...@ri...>]

Hello Kourosh,

The MultiRigidBodyPlanning demos builds off of the infrastructure in
OMPL.app which performs collision checking using the supplied PQP (or FCL)
StateValidityChecker for 3D mesh models.  In particular, the multi-body
demos centrally plan for a number of free-flying rigid bodies in 2D or 3D,
and the StateValidityChecker simply checks whether any of the robot meshes
(loaded using the 'addRobotMesh' method) collide with the environment or
themselves.

The OMPL "apps" are not designed such that the underlying
StateValidityChecker can be modified as these are really meant as a proof
of concept for the OMPL library.  For any additional functionality, it is
probably easiest to build off of  one of the core OMPL demos and create a
custom StateSpace and StateValidityChecker.  Hope this helps.

Thanks,
Ryan

On Wed, Jan 23, 2013 at 11:54 AM, Kourosh Sartipi <kou...@gm...
> wrote:

> Hi everyone!
> I'm new to OMPL so please forgive me if my question is naive.
> I am developing for Robocup Small League team, and wanted to use OMPL for
> motion planning. We should plan for multiple robots motions at the same
> time. I know there is ompl::app::SE2MultiRigidBodyPlanning class for such
> environments, but from the code in Demos section, I can only see that it
> loads environment from file. How can I use this class or any other class
> for that in a dynamic environment of multiple robots (which includes
> non-controllable enemy team)? I know I can use StateVelidityChecker for
> collision checks but I can't understand how to use it with
> ompl::app::SE2MultiRigidBodyPlanning.
>
> Yours,
> Kourosh
>
>
> ------------------------------------------------------------------------------
> Master Visual Studio, SharePoint, SQL, ASP.NET, C# 2012, HTML5, CSS,
> MVC, Windows 8 Apps, JavaScript and much more. Keep your skills current
> with LearnDevNow - 3,200 step-by-step video tutorials by Microsoft
> MVPs and experts. ON SALE this month only -- learn more at:
> http://p.sf.net/sfu/learnnow-d2d
> _______________________________________________
> ompl-users mailing list
> omp...@li...
> https://lists.sourceforge.net/lists/listinfo/ompl-users
>
>