[ompl-users] How to implement propositions with motion primitives and abstraction graph with the OMPL?

[Marcos P. <mar...@gm...>]

Dear OMPL community,

I am currently studying the article from He et al "Towards Manipulation
Planning with Temporal Logic Specification" (2015 IEEE International
Conference on Robotics and Automation (ICRA))
<https://www.cs.rice.edu/~vardi/papers/icra15.pdf>.

I have managed to use the LTLWithTriangulation.cpp example from OMPL to
generate a solution path based on the product graph between a
PropositionalTriangularDecomposition and the LTL cosafety and safety
formulas.
This is what the LTLWithTriangulation.cpp
<http://ompl.kavrakilab.org/LTLWithTriangulation_8cpp_source.html> example
does.

However I couldn't understand how to create the Abstraction graph
R=(V,v0,E,L,W) with the OMPL mentioned on the article above on page 3, that
is, how to declare R on the OMPL.
I would like to reuse the LTLWithTriangulation.cpp
<http://ompl.kavrakilab.org/LTLWithTriangulation_8cpp_source.html> to plan
with Motion Primitives (for instance, as in the article above, Grasp, Move,
Hold, Place) and locations of interest.
The LTLWithTriangulation.cpp
<http://ompl.kavrakilab.org/LTLWithTriangulation_8cpp_source.html> already
uses propositional triangular decomposition to describe locations of
interest as polygons but does not include motion primitives information.

Would it be possible for someone to provide some ideas or insights on how
to implement the abstraction graph R with the OMPL to use the ProductGraph
<http://ompl.kavrakilab.org/classompl_1_1control_1_1ProductGraph.html> OMPL
function and then use the OMPL LTLPlanner
<http://ompl.kavrakilab.org/classompl_1_1control_1_1LTLPlanner.html>? How
could I add the motion primitives information on the propositional
decomposition in order that it works with the ProductGraph
<http://ompl.kavrakilab.org/classompl_1_1control_1_1ProductGraph.html> and
also with the LTLPlanner
<http://ompl.kavrakilab.org/classompl_1_1control_1_1LTLPlanner.html>?

Thank you,

Marcos Pereira