[ompl-users] Serializing PRM or any other Multi Query Planner

[Manuel K. <kas...@po...>]

Hello together,
I have a major problem with my PRM Planner:

We are having a problem with two industrial robots that carry together a
material. I want to use the PRM Planner because the movment is going to
be done for probably a few hundred times, but always with slightly
different start and different goal positions.

To find a solution the PRM planner needs over an hour, so it is
absolutely neccessary to store the Roadmap (or planner state), so that
the initial roadmap doesn't have to be constructed all the time.

I found following thread in the mailinglist:
https://sourceforge.net/p/ompl/mailman/message/32657097/. There it is
told, that we can use PlannerDataStorage for that. But as far as I can
see, I can change the goal but the start has to be an existing vertice.
(Also i don't understand if this can deal with states that are not
exactly a vertice in the roadmap?!)

In the thread it is also said, that the ompl team is working on a
solution for serializing internal multi query planner states. Does
anybody have an idea how to deal with this problem? I thought about
implementing a serialization myself. But there are lots of objects that
don't support serialization and would have to be adapted?!

Thanks a lot!
Greets Manu