Re: [ompl-users] VFRRT not working

[Mark M. <mm...@ri...>]

Hi Guilherme,

I can’t reproduce this with the latest version of OMPL. The VFRRT-related code hasn’t changed much since 1.2.1 (besides small changes to take advantage of C++11 features). Can you try again with the latest release? If you have the same problem with the latest release, please file a bug report at https://bitbucket.org/ompl/ompl/issues?status=new&status=open <https://bitbucket.org/ompl/ompl/issues?status=new&status=open>. Include OS version, Boost version, compiler version, etc.

Mark



> On May 12, 2017, at 6:49 AM, Guilherme Pereira <gpe...@uf...> wrote:
> 
> 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
> 
> 
> 
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