Re: [ompl-users] Objectives in OMPL path planning

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

The objective of  minimizing the clearance is to have the robot move over
the terrain rather than fly over the terrain, as shown in the figure
attached

On Fri, Jul 13, 2018 at 4:46 PM, Rajaneesh <raj...@gm...>
wrote:

> 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
>