From: Kourosh S. <kou...@gm...> - 2013-10-29 09:22:00
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Hi Ioan, Thanks for suggesting those classes, however it's better for me to not use multiple threads for planner, since I have other parallel threads running (visual odometry, mapping, etc.) and my laptop can't handle that kind of load. But for another project that needs offline planning I will certainly use those. Yours, Kourosh On Tue, Oct 29, 2013 at 12:07 PM, Ioan Sucan <is...@gm...> wrote: > Hello Kourosh, > > Another thing you may find useful is the ParallelPlan and OptimizePlan > classes, if you want to choose the best plan and have multiple plans > computed in parallel > > http://ompl.kavrakilab.org/classompl_1_1tools_1_1ParallelPlan.html > > http://ompl.kavrakilab.org/classompl_1_1tools_1_1OptimizePlan.html > > > Ioan > > > On Sun, Oct 27, 2013 at 5:45 PM, Kourosh Sartipi < > kou...@gm...> wrote: > >> Thanks Mark, >> I couldn't use DubinStateSpace or custom state spaces and my program >> would hang if I used them, but I guess it was the result of me being a >> beginner and messing something up somewhere. What did work however, was >> using PathSimplifier::reduceVertices. Now the planner gives me paths with >> as few vertices as possible and they are generally fine as long as I run >> path planner multiple times and select the best one. >> >> Thank you again, >> Yours, >> Kourosh >> >> >> On Sat, Oct 26, 2013 at 11:08 PM, Mark Moll <mm...@ri...> wrote: >> >>> Kourosh, >>> >>> You might want to look at the DubinStateSpace. This is an SE(2)-like >>> state space for vehicles with a bounded turning radius that can only move >>> forward. Interpolation between states is done using Dubins paths. If Dubins >>> paths are not quite what you want, you can create your own state space. You >>> could also play with the relative weight of orientation w.r.t. position in >>> the distance function (to favor straight paths). >>> >>> Also, it’s recommended to use path simplification on a solution to >>> mitigate some of the “chaotic motions” you have observed. Look at some of >>> the demos for examples on how to do this. >>> >>> On Oct 26, 2013, at 7:30 AM, Kourosh Sartipi <kou...@gm...> >>> wrote: >>> > This is my first time using ompl, so I apologize that my question >>> is rudimentary. We have a robot that moves on the ground and want to do >>> path planning using ompl and a 2D occupancy grid. Doing motion planning is >>> very easy with RRTConnect, but our robot can only move forward and turn, so >>> a chaotic motion is very costly. >>> > How can I tell ompl to favor straight lines? Since for every turn our >>> robot has to completely stop, turn and start moving again. >>> >>> -- >>> Mark Moll >>> >>> >>> >>> >> >> >> ------------------------------------------------------------------------------ >> October Webinars: Code for Performance >> Free Intel webinars can help you accelerate application performance. >> Explore tips for MPI, OpenMP, advanced profiling, and more. Get the most >> from >> the latest Intel processors and coprocessors. See abstracts and register > >> >> http://pubads.g.doubleclick.net/gampad/clk?id=60135991&iu=/4140/ostg.clktrk >> _______________________________________________ >> ompl-users mailing list >> omp...@li... >> https://lists.sourceforge.net/lists/listinfo/ompl-users >> >> > |