Re: [ompl-users] Removing vertices from PRM graph

[hadar s. <had...@gm...>]

Hi Mark,

Thank you for your quick reply.

As you suggested, I will look through the boost graph library API for the
relevant functions and write this method by myself.

I intend to iterate through the vertices data structure and to check again
every vertex with IsValid   (Is Valid will be different, of course, from
the IsValid I used during roadmap construction).

According to the returned value, the method will keep/remove the examined
vertex and its edges.

I would appreciate your advice regarding the function I intend to write.

In PRM implementation, I saw you use mutex every time you add a milestone
or an edge.  Does this mean that my function cannot run multiple threads so
that each thread will iterate through different part of the vertices data
structure?

Best and a happy new year,

Hadar




On Wed, Jan 6, 2021, 01:16 Mark Moll <mm...@ri...> wrote:

> Hi Hadar,
>
> There is no method for this at the moment. You need to write your own
> method that will call Boost.Graph functions to remove specific vertices and
> any incident edges.
>
> Best,
>
> Mark
>
>
>
> On Jan 5, 2021, at 7:25 AM, hadar sinvani <had...@gm...> wrote:
>
> Hello,
>
> I'm using the geometric prm planner.
>
> At first, the constructRoadmap function is being called once, following
> several calls to solve and clearQuery functions.
>
> I would also like to update my graph between calls and to remove specific
> vertices, therefore the clear function that clears ALL internal data
> structure is not a good option for me…
>
> Is there a function that iterates through the vertices data structure and
> removes specific vertices from the graph?
>
> Best,
>
> Hadar
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