Re: [ompl-users] Obtaining Path Lengths

[Zachary K. <za...@ri...>]

Notice that the paths after simplification only have 2 states - these 
two states are the start and goal, which means your path in each of the 
three cases is simply the "straight line" from the start to the goal.

My (guess) explanation for why there are a different number of states in 
the search tree and unsimplified path in each case is that goal biasing 
occurred at different iterations, but solved the problem as soon as a 
goal sample was used.

Best,

Zak

On 9/1/21 8:14 AM, Emre Cemal Gönen (Student) wrote:
> I have a question about path length obtained after RRT planning using 
> Constrained Planning where my initial and goal states are 
> RealVectorStates. Although I try to solve the same planning 
> problemimage.gif many times, I get the same path length with the same 
> simplified path lengths. Is it normal? Or, what should I do to obtain 
> path lengths?
>
>
> Info:    Using Projection-Based State Space!
> Debug:   RRT: Planner range detected to be 3.305002
> Info:    RRT: Starting planning with 1 states already in datastructure
> Info:    RRT: Created 18 states
> Info:    Solution found in 5.308511 seconds
> Info:    Simplifying solution...
> Info:    SimpleSetup: Path simplification took 0.066612 seconds and 
> changed from 4 to 2 states
> Info:    Simplified Path Length: *1.934 -> 1.934*
> Info:    Interpolating path...
> Info:    Interpolating simplified path...
>
> Info:    Using Projection-Based State Space!
> Debug:   RRT: Planner range detected to be 3.305002
> Info:    RRT: Starting planning with 1 states already in datastructure
> Info:    RRT: Created 44 states
> Info:    Solution found in 6.888629 seconds
> Info:    Simplifying solution...
> Info:    SimpleSetup: Path simplification took 0.064105 seconds and 
> changed from 6 to 2 states
> Info:    Simplified Path Length:*1.934 -> 1.934*
> Info:    Interpolating path...
> Info:    Interpolating simplified path...
>
>
> Info:    Using Projection-Based State Space!
> Debug:   RRT: Planner range detected to be 3.305002
> Info:    RRT: Starting planning with 1 states already in datastructure
> Info:    RRT: Created 36 states
> Info:    Solution found in 8.470227 seconds
> Info:    Simplifying solution...
> Info:    SimpleSetup: Path simplification took 0.000002 seconds and 
> changed from 2 to 2 states
> Info:    Simplified Path Length: *1.934 -> 1.934*
> Info:    Interpolating path...
> Info:    Interpolating simplified path...
>
>
> Kindest Regards,
> E. Cemal Gonen
> -- 
> *EMRE CEMAL GÖNEN*
> YÜKSEK LİSANS ÖĞRENCİSİ
> GRADUATE STUDENT
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