Re: [ompl-users] Time-Dependent Obstacles

[Mark M. <mm...@ri...>]

Hi Justin,

If you know the pose and shape of the obstacles at any given time, then you can create a CompoundStateSpace with a TimeStateSpace as one of the components and the current StateSpace as the other component. In other words, you’d explicitly keep track of time as part of the state of the robot. You will probably have to create a custom motion validator that will ensure that the robot can only move forward in time (and be collision-free with obstacles). You may also need additional checks to make sure the robot’s speed doesn’t exceed any limits.
 
Best,

Mark



> On Oct 3, 2021, at 11:48 PM, Justin Kottinger <juk...@co...> wrote:
> 
> 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