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

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

One problem with the code you attached is that the planner termination condition you define is just an empty function. Try passing in a timedPlannerTerminationCondition <http://ompl.kavrakilab.org/namespaceompl_1_1base.html#ae26e5f143063be389fba4906d438a381> to constructRoadmap().

Best,

Mark


> On Sep 10, 2018, at 3:21 AM, 이현태 <lee...@gm...> wrote:
> 
> 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.
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> 
> I want to make two source codes, construct Roadmap and query phase.
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> 
> 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 (const base::PlannerTerminationCondition &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….
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> 
> I added the code I tried.
> 
> 
> Thank you for advance..