Re: [ompl-users] saving PRM RoadMap

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

Hadar,

If you don’t need the retrieve/repair capability of Thunder, then you can just use regular PRM as your planner. When you are constructing the planner instance, you can pass in a PlannerData object containing a roadmap/tree from a previous planning attempt. The PlannerData can be stored on disk using the PlannerDataStorage class. 

Also, if you repeatedly call PRM::solve without calling clear, it will also reuse the previous constructed roadmap.

Best,

Mark



> On Jun 11, 2020, at 4:00 AM, hadar sinvani <had...@gm...> wrote:
> 
> 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.
> 
> 
> 
> 
>  
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