[ompl-users] Access the Depth of the Tree Structure in RRT Planner

[Kejia R. <kr...@ri...>]

Hello,

We want to inherit from the RRT planner in OMPL to implement our own
planner. Basically, I think we just need to overwrite the main solve()
function since all other steps are the same. What we want to do inside the
solve() function is, we want to retrieve the depth of the tree structure (I
think it is an instance of the NearestNeighbors class inside RRT) and also
want to decide where the leaf nodes are and evaluate the state of each leaf
node. Below are a few lines of psuedocodes explaining what we want to do
with it. But we are not sure whether we have access to the tree depth and
whether the data structure used in RRT can decide where the leaf nodes are.
So we are sending this email to ask for help. Could you please give some
instructions or advice for how to do that? Thank you so much!

solve():
    ...
    if tree.depth > 10:
        for n  in leaf_nodes:
            evaluate(n -> state)
    ...

Best,
Kejia