Re: [ompl-users] Virtual Obstacles in State Space

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

Hi Rajaneesh,

Yes, you’ll have to write you own state validity checker whose isValid() method returns false when the robot intersects the virtual obstacles.

Mark



> On Jul 6, 2018, at 1:39 PM, Rajaneesh <raj...@gm...> wrote:
> 
> Hello,
> 
>   Is it possible to define virtual obstacle in state space in OMPL. Though these obstacles are not part of current physical environment, they are necessarily no go areas for the robots in the state space. This is to formulating path using OMPL anticipating the robot or environment may be subjected to future modification in near future.
> 
> Regards
> Rajaneesh