Re: [ompl-users] Loading roadmaps

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

Hi Andreas,

It may be possible to load planner data in the GUI, but this would then only be used for visualization purposes. There is currently no way to initialize a planner with a saved tree/roadmap. Doing this is non-trivial. The internal planner representation of this data is not standardized. The exported planner data should contain *most* of the information needed to recreate it, but not necessarily all (for example, coverage estimates that are used by ProjEST and KPIECE are not saved).

If you are thinking of using this in the context of replanning in dynamic / uncertain environments, you could also consider writing a special sampler class that uses planner data from a previous planning cycle to feed states to the current planning cycle (followed by generating random states if all states from the planner data have been sampled).

Mark



> On Dec 22, 2017, at 1:18 PM, ahofmann <an...@do...> wrote:
> 
> 
> Hi,
> 
> I recently installed OMPLapp (on Ubuntu 16.04).  I noticed that it is possible, from the menu,
> to save a PRM generated roadmap, but it does not seem to be possible to load one.
> I checked the code in ompl_app.py, and confirmed that this is the case;  there is
> a function savePlannerData, but no corresponding loadPlannerData.
> I also checked PRM.h, and it seems like there is an API for accessing the roadmap graph
> (g_) but not for setting it.
> 
> Are there any plans to provide a means for loading a saved roadmap?
> 
> Regards,
> Andreas Hofmann