[ompl-users] Setting maximum waypoints to OMPL planner

[Deepak <dpa...@gm...>]

Hello,

I would like to know if there is any way to specify to OMPL planner the
maximum waypoints that I require. I checked out the reduceVertices() API,
but it doesn't always assure removing a waypoint.

My use case is that, between start and end goal, I want no more than 'N'
waypoints. This N can vary based on my use case.

Kindly guide me if you have any ideas as to how I can go about implementing
this.

Regards,

Deepak