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

[James L. <JuH...@st...>]

Thanks for that Mark. Its not exactly what I needed, however.

What I want to do is find a solution using a roadmap or branch that contains 1000 sample states.
But when I use the iteration termination condition to and set the value to, say 1000, the algorithm seems to only generate ~480 states.
I also want to perform benchmark test using set number of sample states, so ideally I don't want to pass the object through Planner::solve().

Is there another way? or do I need to hard code this?

James


________________________________
From: Mark Moll <mar...@gm...> on behalf of Mark Moll <mm...@ri...>
Sent: Thursday, 5 October 2017 7:39:41 PM
To: James Lee
Cc: omp...@li...; Chanyeol Yoo; Robert Fitch
Subject: Re: [ompl-users] PRM and RRT sample bounds

Hi James,

Perhaps this is what you want:
ompl::base::IterationTerminationCondition
http://ompl.kavrakilab.org/classompl_1_1base_1_1IterationTerminationCondition.html
ompl::base::IterationTerminationCondition Class Reference<http://ompl.kavrakilab.org/classompl_1_1base_1_1IterationTerminationCondition.html>
ompl.kavrakilab.org
Public Member Functions IterationTerminationCondition (unsigned int numIterations) Construct a termination condition that can be evaluated numIterations times before ...


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

Mark



On Oct 5, 2017, at 5:39 AM, James Lee <JuH...@st...<mailto: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