Re: [ompl-users] getting controls out of planner data in python

[Peter M. <mit...@gm...>]

Thanks, this is great news! Now if I may tack on another issue I've found
with the bindings. The following gives an error only when isSatisfied is
overridden

https://gist.github.com/PeterMitrano/1e6234f0f200e9adba0428e1a35fc6fb

I assume the problem is in the * double argument ? Thanks in advance!

On Wed, Mar 10, 2021 at 5:22 PM Mark Moll <mm...@ri...> wrote:

> Hi Peter,
>
> There was a bug in the Python binding generation code that I just fixed
> <https://github.com/ompl/ompl/commit/1ce20e2940f85c6931b673627eb6923be1fb1943>.
> After you update ompl, regenerate the bindings and recompile, something
> like this should work:
>
>     planner_data = oc.PlannerData(si)
>     planner.getPlannerData(planner_data)
>     edgeMap = ob.mapUintToPlannerDataEdge()
>     for i in range(planner_data.numVertices()):
>         vi = planner_data.vertexIndex(planner_data.getVertex(i))
>         planner_data.getEdges(vi, edgeMap)
>         for index, control in edgeMap:
>             print(vi, '->', index, control.getDuration(),
> control.getControl()[0], control.getControl()[1])
>
> This will print out the control duration and control first two components
> of the control input vector for each edge.
>
> Best,
>
> Mark
>
>
>
> On Feb 11, 2021, at 1:32 PM, Peter Mitrano <mit...@gm...> wrote:
>
> I'm having trouble getting control info in python. I'm using a oc.RRT and
> getting the planner data by:
>
> planner_data = ob.PlannerData(si)
> rrt.getPlannerData(planner_data)
>
> which works, but from there I cannot figure out how to get the controls. I
> know I should call getControls() on a control::PlannerDataEdgeControl but I
> can't figure out how to get that. Also, hasControls returns False. I can
> also see that the bindings for control::PlannerData and
> control::PlannerDataEdgeControl are not being generated, not sure why
> though, since control::PlannerDataEdgeStorage is
>
> Might I get help on making the appropriate changes to get this work?
> Thanks!
> _______________________________________________
> ompl-users mailing list
> omp...@li...
> https://lists.sourceforge.net/lists/listinfo/ompl-users
>
>
>