Re: [ompl-users] VFRRT not working

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

Ok Mark,

I will do that.

Thanks,

Guilherme


Em 12/05/2017 12:11, Mark Moll escreveu:
> 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. Include 
> OS version, Boost version, compiler version, etc.
>
> Mark
>
>
>
>> On May 12, 2017, at 6:49 AM, Guilherme Pereira <gpe...@uf... 
>> <mailto: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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>

-- 

Prof. Guilherme A. S. Pereira
Departamento de Engenharia Elétrica
Universidade Federal de Minas Gerais
Tel: +55 31 3409-6687
http://www.ppgee.ufmg.br/~gpereira