[ompl-users] Objectives in OMPL path planning

[Rajaneesh <raj...@gm...>]

Hello

In the objectives, we have clearance objective. Is it possible to maximise
the path length by maintaining minimum clearance. (as in Bug algorithm)


def allocateObjective(si, objectiveType):
    if objectiveType.lower() == "pathclearance":
        return getClearanceObjective(si)
    elif objectiveType.lower() == "pathlength":
        return getPathLengthObjective(si)
    elif objectiveType.lower() == "thresholdpathlength":
        return getThresholdPathLengthObj(si)
    elif objectiveType.lower() == "weightedlengthandclearancecombo":
        return getBalancedObjective1(si)
    else:
        ou.OMPL_ERROR("Optimization-objective is not implemented in
allocation function.")



Regards
Rajaneesh