Re: [ompl-users] Accessing coordinates of Roadmap vertexes

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

Hello Dan,

All of the planners in OMPL are constructed to be agnostic of the state
space planned in.  Therefore, it isn't easy to get at any particular state
component inside of a planner without knowing explicitly the state space
you are planning in.  For the PRM, the State pointers are stored in a
member variable property_map called stateProperty_ .  If you know the
StateSpace type, you can cast these to your type and then extract the state
components.

You can also externally retrieve a copy of the data structure constructed
by a planner using the getPlannerData method.  The structure returned
allows you to explicitly query the vertex data, of which a State* is a
member that you can cast to your particular StateSpace as you would, for
example, in a StateValidityChecker.

Ryan

On Thu, Jan 24, 2013 at 6:59 AM, Magazzeni, Daniele <
dan...@kc...> wrote:

> Dear OMPL users,
>
> I'm using the RoadMap algorithm in a SE3StateSpace.
>
> I need to access the (x,y,z) coordinates of each vertex in the generated
> RoadMap, but I'm struggling with that.
>
> I've got:
>
> planner->as<og::PRM>()->growRoadmap(1.0);
>
> Then I can use a property_map to get the vertex index, in this way:
>
> typedef b::property_map<Graph, b::vertex_index_t>::type IndexMap;
> IndexMap index = get(b::vertex_index, g);
>
> Is there anything similar to access the content of the vertex, i.e. the
> coordinates x,y,z ?
>
> Thank you very much!
>
> Best regards,
> Dan
>
>
>
>
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