[ompl-users] VFRRT not working

[Guilherme P. <gpe...@uf...>]

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