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

[Jonathan G. <ga...@ro...>]

> Message: 1
> Date: Tue, 23 Jun 2020 10:01:21 -0500
> From: Patrick Beeson <bee...@gm...>
> To: omp...@li...
> Subject: [ompl-users] Straight line (in config space) path?
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> 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?

Hi Patrick,

I am not personally aware of such a feature in OMPL in general, but some 
specific planners do behave this way as a result of their design. I'm 
specifically thinking of planners that use heuristics to inform their 
search in order of potential solution quality, such as BIT* and AIT*.

You can find them in OMPL under geometric/planners/informedtrees/

Full disclosure, these are planners I've worked on. They haven't been 
tested exhaustively with MoveIt!, but I believe they do work with it.

Best,
Jon

-- 
Jonathan Gammell, Ph.D.

Departmental Lecturer in Robotics
Estimation, Search, and Planning (ESP) Research Group
Oxford Robotics Institute (ORI)
Department of Engineering Science
University of Oxford
office: +44 1865 613082
skype: jdgammell
https://robotic-esp.com/gammell