Re: [ompl-users] Collision Checker PQP exception

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

PQP is an optional dependency detected at build time. After you download and install PQP, you will have to rebuild OMPLapp.

Generally, FCL is now the preferred collision checker. Is there any particular reason you prefer PQP over FCL?

Mark



> On Jul 18, 2018, at 6:43 AM, Rajaneesh <raj...@gm...> wrote:
> 
> Hello,
> 
>   I changed the collision checker from FCL to PQP, to check the performance using the below
> setup.setStateValidityCheckerType(setup.getCollisionCheckerType().PQP)
> 
> setup.getCollisionCheckerType() shows that PQP has been set. But I get the following exception.
> 
> Should I download the PQP library separately?
> 
> 
> Error:   Unexpected collision checker type (0) encountered
>          at line 199 in /home/raj3/Downloads/omplapp-1.3.2-Source/src/omplapp/geometry/RigidBodyGeometry.cpp
> 
> 
> Also is it possible to benchmark planners for different collision check algorithm like FCL and PQP using config file?
>