[ompl-users] Parabolic Motion Planner

[Dan R <ni...@gm...>]

Hello,

I am interested in running a PRM planner on a 3d space that consists of
various platforms which a point mass can jump between. Each edge between
states is defined as a parabolic trajectory (a jump basically). Would I
create a custom MotionValidator class which basically moves the object
along the trajectory between states and do collision detection in there?

Also since this space is discontinuous (you can't stop in the middle of a
jump) which planners do I need to avoid? I know some algorithms attempt to
only travel some percentage of an edge and create new states along the way.
But this wouldn't be possible in a discontinuous space like this.

Thanks, I'm a beginner.

Dan