Re: [ompl-users] Robot arm movement metrics (was: Literature for OMPL's LTL planner)

[Helio P. F. <xpe...@gm...>]

Hi Jack,

It depends on what you're using these metrics for.

If you're using them after-the-fact e.g. to monitor system performance, you
can compute them after the call to the planner's (or SimpleSetup's) solve()
function.

Otherwise, if you want to use the metrics to influence planning, you should
compute them in an optimization objective, and possibly also a validity
checker to flat-out discard states that cross a performance threshold. You
might also want to implement a custom state sampler that is biased towards
states with better performance metrics.

Take a look into these tutorials for reference:

Defining optimization objectives for optimal planning
https://ompl.kavrakilab.org/optimizationObjectivesTutorial.html

Setting up state validity checking
https://ompl.kavrakilab.org/stateValidation.html

Using existing samplers and creating new ones
https://ompl.kavrakilab.org/samplers.html

-- 
Best regards,
Helio Perroni Filho
E-mail: ma...@xp...
Web: http://xperroni.me
<http://machineawakening.blogspot.com/>


On Sun, Mar 29, 2020 at 2:33 PM Jack Green <jgr...@gm...> wrote:

> Hello,
>
> I am running 3D printing simulations using a robot arm in VREP with the
> OMPL plugin for the motion planning of the arm. I am trying to calculate a
> couple of metrics for the movement of the arm (such as swept volume, energy
> expenditure, etc.) and am trying to figure out where to put the code that
> calculates these values. Thanks.
>
> Best,
> Jack Green
>