Re: [ompl-users] (no subject)

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

Hi Hadar,

No, this is not done currently. Normally, milestones are created through random sampling, which means that the probability that two milestones are the same is infinitesimally small. To check wether two states are *almost* the same, you would have to query the nearest neighbor data structure for each milestone that is added. This is an O(log n) operation. For most applications this extra overhead is not worth it.

Best,

Mark



> On Jul 27, 2020, at 3:30 AM, hadar sinvani <had...@gm...> wrote:
> 
> Hi,
> 
> I'm using the prm planner in a real vector state space.
> 
> Is the graph tested before adding a new state as a milestone in order to verify that the added state does not already exist in the graph?
> 
> Best, Hadar
> 
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