Re: [ompl-users] Setting maximum waypoints to OMPL planner

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

Hi Deepak,

You may have better luck with ompl::geometric::PathSimplifier::shortcutPath, but even with that function there is no way to specify the desired maximum number of waypoints. 

Note that it may not always be possible to reduce a given path to one with only N waypoints (even if many solution paths exist that are reducible to N waypoints).

Best,

Mark


> On Oct 11, 2018, at 4:59 AM, Deepak <dpa...@gm...> wrote:
> 
> 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
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