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From: Guilherme P. <gpe...@uf...> - 2017-05-12 12:04:57
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Hello everyone, I'm trying to use VFRRT but it seems to be not working. It never finds a path. In fact, it does not add any states to the tree. When I run the example in VectorFieldConservative.cpp I get: Info: VFRRT: Starting planning with 1 states already in datastructure Info: VFRRT: Created 1 states Info: No solution found after 10.102015 seconds No solution found. Debug: TRRT: Planner range detected to be 5.656854 Debug: TRRT: Frontier threshold detected to be 0.282843 Info: TRRT: Starting planning with 1 states already in datastructure Info: TRRT: Created 66 states Info: Solution found in 0.001091 seconds Found solution. Total upstream cost: 11.6123 Debug: RRTstar: Planner range detected to be 5.656854 Info: RRTstar: Starting planning with 1 states already in datastructure Info: RRTstar: Initial k-nearest value of 4 Info: RRTstar: Found an initial solution with a cost of 7.97 in 21 iterations (22 vertices in the graph) Info: RRTstar: Created 27293 new states. Checked 1141600 rewire options. 4 goal states in tree. Final solution cost 6.766 Info: Solution found in 10.078853 seconds Found solution. Total upstream cost: 6.87743 To the VectorFieldNonconservative.cpp example I have this: Info: VFRRT: Starting planning with 1 states already in datastructure Info: VFRRT: Created 1 states Info: No solution found after 10.099492 seconds No solution found. I tried to make some changes without success. Can anyone help me? I'm using OMPL 1.2.1. Thanks, Guilherme |