From: Federico I. <ins...@li...> - 2021-04-06 15:38:39
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Hi Developers and Users, I am a MSc. student of Mechanical Engineering and I am working with ROS for a thesis project on my own and I would like to use the RRT for planning my robot (which is a redundant one). I need to implement a time optimization cost function for moving the robot with MoveIt package and the RRT planner. How can i do that? I have seen the tutorials, particularly: https://ompl.kavrakilab.org/optimizationObjectivesTutorial.html . But I am still confused on how can I implement. Thank you so much for the help, Federico Optimization Objectives Tutorial - OMPL<https://ompl.kavrakilab.org/optimizationObjectivesTutorial.html> The above code fragment creates and optimization objective which attempts to optimize both path length and clearance. We begin by defining each of the individual objectives, and then we add them to a ompl::base::MultiOptimizationObjective object. This results in an optimization objective where path cost is equivalent to summing up each of the individual objectives' path costs. ompl.kavrakilab.org |