[ompl-users] Time-Dependent Obstacles

[Justin K. <juk...@co...>]

Hello,

I am attempting to do rigid body planning with controls and time-dependent obstacles. To this end, I have implemented a state validity checker class that inherits the ob::StateValidityChecker class but also tracks when the obstacles are present. I am running into an issue where time might not be tracked within the ob::State object and no ob::StateValidityChecker member functions deal with time (to the best of my knowledge). Does anyone know of some clever ways overcome this challenge?

Thank you in advance for your time,

Justin