Re: [ompl-users] PRM and RRT sample bounds

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

Hi James,

Perhaps this is what you want:
ompl::base::IterationTerminationCondition
http://ompl.kavrakilab.org/classompl_1_1base_1_1IterationTerminationCondition.html <http://ompl.kavrakilab.org/classompl_1_1base_1_1IterationTerminationCondition.html>

You can pass an object of this type to Planner::solve().

Mark



> On Oct 5, 2017, at 5:39 AM, James Lee <JuH...@st...> wrote:
> 
> Hi everyone,
> 
> I am trying to implement PRM and RRT (and their respective variants) on OMPL.
> 
> Is there a way to add a sample bound to these algorithms? For example, the roadmap or branch is grown until the 1000th sample has been generated, and uses said roadmap or branches to output a trajectory/path.
> 
> Regards,
> 
> James