Re: [ompl-users] Edge checking in control based planners

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

Hi Peter,

There is no notion of a motion validator for kinodynamic planning on OMPL. Instead, the state validator is called after each call to the state propagator. The propagation step size should thus be sufficiently small so that the max. possible change in position is roughly equal to the collision checking resolution. Don’t confuse propagation step size with integration step size, though. Integration step size is often on the order of magnitude of .01 or smaller. The propagation step size can often be safely set to be an order of magnitude larger. The SpaceInformation::propagateWhileValid methods take as one of their arguments the max. number of steps (i.e., calls to the state propagator) that will be taken. It seems like calling that method should give you what you want, no?

Best,

Mark



> On Nov 22, 2019, at 7:47 AM, Peter Mitrano <mit...@gm...> wrote:
> 
> Hi Mark & others, I'm wondering if there is a hook for implementing continuous edge checking in the control based planners. Specifically, I want to validate a (x, u, x') tuple. A motion validator only validates (x, x') and state validity is of course just (x). At the moment, I am implementing this by setting the state to be infinity inside my propagate function, and using a state validity checker to check that result. I feel a much cleaner method would be to make propagate return bool instead of void, and then propagateWhileValid would check that in addition to a stateValidity checker. Is there a better way to do it?
> 
> Thank you,
> -Peter Mitrano
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