[ompl-users] Straight line (in config space) path?

[Patrick B. <bee...@gm...>]

In using OMPL via MoveIt!, I'm noticing that OMPL often does a whole lot of
work to plan even when there's a straight line in configuration space from
the start to the goal.  So it'll find a solution of let's say 6-10 points
then that gets shortened down to 2, the start and goal.

In asking about just checking the 2 point plan of start/goal for collisions
in MoveIt! (
https://answers.ros.org/question/355617/can-moveit-first-check-shortest-path-before-planning/),
the short answer was "your planner needs to support it".  So, now I'm
asking here, does OMPL support this functionality as an option prior to
running plans, and is this exposed via the MoveIt! API into OMPL?  If so,
I'm missing where this is documented.  If not, is there a viable solution
to do this in OMPL?