[ompl-users] saving PRM RoadMap

[hadar s. <had...@gm...>]

Hi,

How can I save the PRM RoadMap graph, load it again in an
attempt of  solving a new query?

I would like to use the constructed road map, find a path from scratch
without using retrieve-repair module and past solutions.

*I tried to use the Thunder framework:*

ot::Thunder expPlanner(setup.getSpaceInformation());
expPlanner.setFilePath("thunder.db");

//attempt to solve the problem
if (setup.solve(20))
{
...
}
expPlanner.doPostProcessing();
(setup.getPlanner()->as<og::PRM>())->clearQuery();

// create new start and goal
ob::ScopedState<> start(setup.getStateSpace());
start[0]=...
start[1]=...
ob::ScopedState<> goal(setup.getStateSpace());
goal[0]=...
goal[1]=...

expPlanner.setStartAndGoalStates(start, goal);
expPlanner.setPlanner(std::make_shared<og::PRM>(setup.getSpaceInformation()));
//plan from SCRATCH and disable using previous plan
expPlanner.enablePlanningFromRecall(*false*);
expPlanner.solve(5);



As can be seen, I disabled  PlanningFromRecal but when running the program,
RRTconnect is still being used. Is there anything missing in my program?

Also,  is it possible to save prm graph (to a file maybe...), load it again
in a different program and use it to solve a new query?

Best, Hadar.