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

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

Dear Mark,

Thanks for your quick response. I will check it out.

On Fri 12 Oct, 2018, 00:07 Mark Moll, <mm...@ri...> wrote:

> 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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>