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

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

You can (sort of) do this in OMPL without having to modify each planner, although it’s a little convoluted:
1. Create an instance of AnytimePathShortening (APS)
2. Add an instance of your preferred planner to APS
3. Create a new “planner” that only tries straight line interpolation and add an instance to APS
4. Set the termination condition to be exactSolnPlannerTerminationCondition <http://ompl.kavrakilab.org/namespaceompl_1_1base.html#a71261936b94c44c59a9f26168b30ea1f>(…) (to make sure APS stops when the first solution is found.

Best,

Mark



> On Jun 23, 2020, at 8:01 AM, Patrick Beeson <bee...@gm...> wrote:
> 
> 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/ <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?
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