[ompl-users] Question about GoalSampleableRegion for a constrained planning problem

[Emre C. G. (S. <emr...@sa...>]

Hello,

I try to define a GoalSampleableRegion for a constrained planning problem.
Since the goal configuration includes additional constraints for the
planning constraints, I define two constraint objects for both planning and
goal. My idea is to create a motion plan using planning constraints, and
the goal region is defined based on the samples generated from the goal
constraints.

For the definition of the GoalSampleableRegion,


   - distanceGoal method is chosen as a parameter of
   goal_constraint.distance(state)
   - sampleGoal method tries to use available samplers, which my question is

For sampling, rather than creating my own sampling method, I prefer to use
available samplers that are used for the planning of constrained planning
problems. I tried to use ProjectedStateSampler that takes Constrained State
Space of the goal constraint and allocDefaultStateSampler from the state
space as StateSamplerPtr. When I call sampleUniform() method from the
ProjectedStateSampler I defined, I get the Segmentation fault (core dumped)
error. Do you think I do something wrong? Or, are there any ways to do it
more conveniently to solve my problem?

Thank you,
Kindest Regards,
E. Cemal Gonen


-- 
*EMRE CEMAL GÖNEN*
YÜKSEK LİSANS ÖĞRENCİSİ
GRADUATE STUDENT
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