[ompl-users] Help me for making PRM Algorithm without PlannerManager

[이현태 <lee...@gm...>]

Hi. I am making PRM Algorithm without PlannerManager plugin.



I have to use the OMPL API, *ompl::geometric::PRM Class*



For our project, I have to make a code of PRM one by one.



But I have never seen any document or demo detail of PRM using API.



I want to make two source codes, construct Roadmap and query phase.



I am using ros-kinetic ,moveit and ROS-Industrial universal robot
meta-package (http://wiki.ros.org/universal_robot) .



I tried to use *ompl::geometric::PRM::**constructRoadmap*
<http://ompl.kavrakilab.org/classompl_1_1geometric_1_1PRM.html#a8da5dd602d45e477612bb1401cf68c19>
 (const *base::PlannerTerminationCondition*
<http://ompl.kavrakilab.org/classompl_1_1base_1_1PlannerTerminationCondition.html>
&ptc)
  but failed….



I don’t understanding setup for PRM.



So can I get some document of demo of PRM implementation in detail??



Please help me….



I added the code I tried.



Thank you for advance..