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From: Mark M. <mm...@ri...> - 2011-10-13 21:05:32
|
Which OS are you using? Can you email me the CMakeCache.txt and pyplusplus*.log files from your build directory? You don’t have any other versions of OMPL installed, do you? On Oct 13, 2011, at 11:26 AM, Alvaro Retortillo wrote: > Hi all! > > Reciently I upgraded to 0.9.5. I updated all software used by omplapp (as it is detailed on the installation page, I also configured python to 2.7) I compiled it (cmake, make update_bindings, make, make doc) Everything seemed to work fine. Tests and demos work fine. > > The only problem is that the ompl_app.py script is not working: > > Alvaro-2:gui alvaro$ /opt/local/bin/python --version > Python 2.7.2 > Alvaro-2:gui alvaro$ /opt/local/bin/python ompl_app.py > Traceback (most recent call last): > File "ompl_app.py", line 37, in <module> > from ompl.util import OutputHandler, useOutputHandler > ImportError: cannot import name OutputHandler > Alvaro-2:gui alvaro$ > > Thank you all! > > Alvaro Retortillo. > ¡Saludos! > ------------------------------------------------------------------------------ > All the data continuously generated in your IT infrastructure contains a > definitive record of customers, application performance, security > threats, fraudulent activity and more. Splunk takes this data and makes > sense of it. Business sense. IT sense. Common sense. > http://p.sf.net/sfu/splunk-d2d-oct_______________________________________________ > ompl-users mailing list > omp...@li... > https://lists.sourceforge.net/lists/listinfo/ompl-users -- Mark Moll |
|
From: Alvaro R. <ret...@us...> - 2011-10-13 16:26:50
|
Hi all!
Reciently I upgraded to 0.9.5. I updated all software used by omplapp (as it
is detailed on the installation page, I also configured python to 2.7) I
compiled it (cmake, make update_bindings, make, make doc) Everything seemed
to work fine. Tests and demos work fine.
The only problem is that the ompl_app.py script is not working:
Alvaro-2:gui alvaro$ /opt/local/bin/python --version
Python 2.7.2
Alvaro-2:gui alvaro$ /opt/local/bin/python ompl_app.py
Traceback (most recent call last):
File "ompl_app.py", line 37, in <module>
from ompl.util import OutputHandler, useOutputHandler
ImportError: cannot import name OutputHandler
Alvaro-2:gui alvaro$
Thank you all!
Alvaro Retortillo.
¡Saludos!
|
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From: Mark M. <mm...@ri...> - 2011-10-12 18:56:12
|
Hi all, The slides and handout from our IROS 2011 tutorial on motion planning for real robots have been put online at http://kavrakilab.org/OMPLtutorial. Enjoy! -- Mark Moll |
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From: Mark M. <mm...@ri...> - 2011-10-05 02:52:20
|
We are happy to announce a new release of OMPL, version 0.9.5. This is mostly a bug fix release. It includes the following changes: • Added control sampler functions that allow specifying an intended direction of propagation • Made python, Boost.Python, PyOpenGL, and PyQt optional; the omplapp library is useful even without the GUI or python bindings. • Removed pre-generated Python binding code. It turns out that they are dependent on the particular Boost version. • Bug fixes. Point your browser to http://ompl.kavrakilab.org/download.html to download the latest version. -- Mark Moll |
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From: Mark M. <mm...@ri...> - 2011-10-03 18:31:25
|
This thread describes the fixes you need: http://sourceforge.net/mailarchive/forum.php?thread_name=04DF7595-CF2C-45FF-8820-C0CC119070F5%40rice.edu&forum_name=ompl-users On Oct 3, 2011, at 12:52 PM, Ana Huamán wrote: > > Dear developers: > > Hi! > I am trying to install OMPL in Ubuntu 10.04. I have followed all the instructions in the website, however I got an error after executing "make". The error log I got is attached in this email. May you please help me figure out what am I doing wrong? > > Thank you very much and thanks for developing this library! Looking forward to your answer > > Ana > > PS.- In a nutshell: The first appearing error is: error: no matching function for call to ‘ompl::base::RealVectorLinearProjectionEvaluator::RealVectorLinearProjectionEvaluator(boost::python::pointer_wrapper<const ompl::base::StateSpace*>, const boost::reference_wrapper<const std::vector<double, std::allocator<double> > >, const boost::reference_wrapper<const boost::numeric::ublas::matrix<double, boost::numeric::ublas::basic_row_major<long unsigned int, long int>, boost::numeric::ublas::unbounded_array<double, std::allocator<double> > > >)’ > <error.log> -- Mark Moll |
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From: Ana H. <mec...@gm...> - 2011-10-03 17:55:09
|
Dear developers: Hi! I am trying to install OMPL in Ubuntu 10.04. I have followed all the instructions in the website, however I got an error after executing "make". The error log I got is attached in this email. May you please help me figure out what am I doing wrong? Thank you very much and thanks for developing this library! Looking forward to your answer Ana PS.- In a nutshell: The first appearing error is: error: no matching function for call to ‘* ompl::base::RealVectorLinearProjectionEvaluator::RealVectorLinearProjectionEvaluator *(boost::python::pointer_wrapper<const ompl::base::StateSpace*>, const boost::reference_wrapper<const std::vector<double, std::allocator<double> > >, const boost::reference_wrapper<const boost::numeric::ublas::matrix<double, boost::numeric::ublas::basic_row_major<long unsigned int, long int>, boost::numeric::ublas::unbounded_array<double, std::allocator<double> > > >)’ |
|
From: Ana H. <ahu...@ga...> - 2011-10-03 17:52:53
|
Dear developers: Hi! I am trying to install OMPL in Ubuntu 10.04. I have followed all the instructions in the website, however I got an error after executing "make". The error log I got is attached in this email. May you please help me figure out what am I doing wrong? Thank you very much and thanks for developing this library! Looking forward to your answer Ana PS.- In a nutshell: The first appearing error is: error: no matching function for call to ‘* ompl::base::RealVectorLinearProjectionEvaluator::RealVectorLinearProjectionEvaluator *(boost::python::pointer_wrapper<const ompl::base::StateSpace*>, const boost::reference_wrapper<const std::vector<double, std::allocator<double> > >, const boost::reference_wrapper<const boost::numeric::ublas::matrix<double, boost::numeric::ublas::basic_row_major<long unsigned int, long int>, boost::numeric::ublas::unbounded_array<double, std::allocator<double> > > >)’ |
|
From: Ioan S. <is...@gm...> - 2011-10-01 19:07:43
|
Hello Joerg, I have added a few variants of a sampleTo() function to the ControlSampler (pushed to sourceforge). If you are building from the repository, you should be able to use the updated code with RRT. I made no updates for KPIECE so far. Please let us know if there is anything else you need. Ioan On Mon, Sep 26, 2011 at 9:09 AM, Ioan Sucan <is...@gm...> wrote: > > > On Mon, Sep 26, 2011 at 9:02 AM, Joerg Mueller < > mue...@in...> wrote: > >> Hello Ioan, >> >> I would suggest to add that function (with a fallback default >> implementation) and also change the RRT (and KPIECE?) implementation to use >> it. >> >> Yes, you are correct. I meant to include this too. It is clear how to do > this for RRT. I'll try to think about something reasonable to do for KPIECE. > > Ioan > > I will then override that function in the implementation for my blimp >> robot. >> >> Thank you. >> >> Joerg >> >> >> Am 26.09.2011 08:49, schrieb Ioan Sucan: >> >>> Hello Joerg! >>> >>> Thank you for the reminder! The solution I had in mind when we talked at >>> the tutorial is what Mark said. The function he is talking about will be >>> in the repository soon. Would that be sufficient for your needs? >>> >>> Ioan >>> >>> >>> On Mon, Sep 26, 2011 at 8:31 AM, Mark Moll <mm...@ri... >>> <mailto:mm...@ri...>> wrote: >>> >>> Joerg, >>> >>> That would be very useful, but in general this is very hard. Given >>> some system of the form qdot = f(q,u) it is impossible for OMPL to >>> figure out how to steer the system towards a desired state. However, >>> for specific systems (such as cars) it may be possible to do this. >>> This requires a small change to the ControlSampler API to create a >>> member function that takes as input the state that you want to steer >>> the system to. >>> >>> On Sep 25, 2011, at 6:49 PM, Joerg Mueller wrote: >>> >>> > Hi Ioan, >>> > >>> > as previously discussed, I would like to request for an extension >>> of the >>> > ControlSampler for a "smart" sampling of a control that moves the >>> robot >>> > from the tree state towards the sampled/desired state in RRT >>> planning. >>> > >>> > Regards, >>> > Joerg >>> > >>> > -- >>> > >>> > ..............................**.................... >>> > Joerg Mueller, Dipl. Inf. >>> > Albert-Ludwigs-University of Freiburg >>> > Department of Computer Science >>> > Autonomous Intelligent Systems >>> > Georges-Koehler-Allee 079 >>> > D-79110 Freiburg, Germany >>> > Phone: +49-761-203-8005 <tel:%2B49-761-203-8005> >>> > Fax: +49-761-203-8007 <tel:%2B49-761-203-8007> >>> >>> > muellerj@informatik.uni-**freiburg.de<mue...@in...> >>> <mailto:muellerj@informatik.**uni-freiburg.de<mue...@in...> >>> > >>> >>> > http://www.informatik.uni-**freiburg.de/~muellerj/<http://www.informatik.uni-freiburg.de/%7Emuellerj/> >>> <http://www.informatik.uni-**freiburg.de/%7Emuellerj/<http://www.informatik.uni-freiburg.de/%7Emuellerj/> >>> > >>> >>> > ..............................**.................... >>> > >>> > >>> ------------------------------**------------------------------** >>> ------------------ >>> > All the data continuously generated in your IT infrastructure >>> contains a >>> > definitive record of customers, application performance, security >>> > threats, fraudulent activity and more. Splunk takes this data and >>> makes >>> > sense of it. Business sense. IT sense. Common sense. >>> > http://p.sf.net/sfu/splunk-**d2dcopy1<http://p.sf.net/sfu/splunk-d2dcopy1> >>> > ______________________________**_________________ >>> > ompl-users mailing list >>> > omp...@li...urceforge.**net<omp...@li...> >>> <mailto:ompl-users@lists.**sourceforge.net<omp...@li...> >>> > >>> >>> > https://lists.sourceforge.net/**lists/listinfo/ompl-users<https://lists.sourceforge.net/lists/listinfo/ompl-users> >>> > >>> >>> -- >>> Mark Moll >>> >>> >>> >>> >>> ------------------------------**------------------------------** >>> ------------------ >>> All the data continuously generated in your IT infrastructure contains >>> a >>> definitive record of customers, application performance, security >>> threats, fraudulent activity and more. Splunk takes this data and >>> makes >>> sense of it. Business sense. IT sense. Common sense. >>> http://p.sf.net/sfu/splunk-**d2dcopy1<http://p.sf.net/sfu/splunk-d2dcopy1> >>> ______________________________**_________________ >>> ompl-users mailing list >>> omp...@li...urceforge.**net <omp...@li...> >>> <mailto:ompl-users@lists.**sourceforge.net<omp...@li...> >>> > >>> >>> https://lists.sourceforge.net/**lists/listinfo/ompl-users<https://lists.sourceforge.net/lists/listinfo/ompl-users> >>> >>> >>> >> -- >> >> ..............................**.................... >> Joerg Mueller, Dipl. Inf. >> Albert-Ludwigs-University of Freiburg >> Department of Computer Science >> Autonomous Intelligent Systems >> Georges-Koehler-Allee 079 >> D-79110 Freiburg, Germany >> Phone: +49-761-203-8005 >> muellerj@informatik.uni-**freiburg.de<mue...@in...> >> http://www.informatik.uni-**freiburg.de/~muellerj/<http://www.informatik.uni-freiburg.de/%7Emuellerj/> >> ..............................**.................... >> > > |
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From: Ioan S. <is...@gm...> - 2011-09-26 16:09:48
|
On Mon, Sep 26, 2011 at 9:02 AM, Joerg Mueller < mue...@in...> wrote: > Hello Ioan, > > I would suggest to add that function (with a fallback default > implementation) and also change the RRT (and KPIECE?) implementation to use > it. > > Yes, you are correct. I meant to include this too. It is clear how to do this for RRT. I'll try to think about something reasonable to do for KPIECE. Ioan I will then override that function in the implementation for my blimp robot. > > Thank you. > > Joerg > > > Am 26.09.2011 08:49, schrieb Ioan Sucan: > >> Hello Joerg! >> >> Thank you for the reminder! The solution I had in mind when we talked at >> the tutorial is what Mark said. The function he is talking about will be >> in the repository soon. Would that be sufficient for your needs? >> >> Ioan >> >> >> On Mon, Sep 26, 2011 at 8:31 AM, Mark Moll <mm...@ri... >> <mailto:mm...@ri...>> wrote: >> >> Joerg, >> >> That would be very useful, but in general this is very hard. Given >> some system of the form qdot = f(q,u) it is impossible for OMPL to >> figure out how to steer the system towards a desired state. However, >> for specific systems (such as cars) it may be possible to do this. >> This requires a small change to the ControlSampler API to create a >> member function that takes as input the state that you want to steer >> the system to. >> >> On Sep 25, 2011, at 6:49 PM, Joerg Mueller wrote: >> >> > Hi Ioan, >> > >> > as previously discussed, I would like to request for an extension >> of the >> > ControlSampler for a "smart" sampling of a control that moves the >> robot >> > from the tree state towards the sampled/desired state in RRT >> planning. >> > >> > Regards, >> > Joerg >> > >> > -- >> > >> > ..............................**.................... >> > Joerg Mueller, Dipl. Inf. >> > Albert-Ludwigs-University of Freiburg >> > Department of Computer Science >> > Autonomous Intelligent Systems >> > Georges-Koehler-Allee 079 >> > D-79110 Freiburg, Germany >> > Phone: +49-761-203-8005 <tel:%2B49-761-203-8005> >> > Fax: +49-761-203-8007 <tel:%2B49-761-203-8007> >> >> > muellerj@informatik.uni-**freiburg.de<mue...@in...> >> <mailto:muellerj@informatik.**uni-freiburg.de<mue...@in...> >> > >> >> > http://www.informatik.uni-**freiburg.de/~muellerj/<http://www.informatik.uni-freiburg.de/%7Emuellerj/> >> <http://www.informatik.uni-**freiburg.de/%7Emuellerj/<http://www.informatik.uni-freiburg.de/%7Emuellerj/> >> > >> >> > ..............................**.................... >> > >> > >> ------------------------------**------------------------------** >> ------------------ >> > All the data continuously generated in your IT infrastructure >> contains a >> > definitive record of customers, application performance, security >> > threats, fraudulent activity and more. Splunk takes this data and >> makes >> > sense of it. Business sense. IT sense. Common sense. >> > http://p.sf.net/sfu/splunk-**d2dcopy1<http://p.sf.net/sfu/splunk-d2dcopy1> >> > ______________________________**_________________ >> > ompl-users mailing list >> > omp...@li...urceforge.**net<omp...@li...> >> <mailto:ompl-users@lists.**sourceforge.net<omp...@li...> >> > >> >> > https://lists.sourceforge.net/**lists/listinfo/ompl-users<https://lists.sourceforge.net/lists/listinfo/ompl-users> >> > >> >> -- >> Mark Moll >> >> >> >> >> ------------------------------**------------------------------** >> ------------------ >> All the data continuously generated in your IT infrastructure contains >> a >> definitive record of customers, application performance, security >> threats, fraudulent activity and more. Splunk takes this data and makes >> sense of it. Business sense. IT sense. Common sense. >> http://p.sf.net/sfu/splunk-**d2dcopy1<http://p.sf.net/sfu/splunk-d2dcopy1> >> ______________________________**_________________ >> ompl-users mailing list >> omp...@li...urceforge.**net <omp...@li...> >> <mailto:ompl-users@lists.**sourceforge.net<omp...@li...> >> > >> >> https://lists.sourceforge.net/**lists/listinfo/ompl-users<https://lists.sourceforge.net/lists/listinfo/ompl-users> >> >> >> > -- > > ..............................**.................... > Joerg Mueller, Dipl. Inf. > Albert-Ludwigs-University of Freiburg > Department of Computer Science > Autonomous Intelligent Systems > Georges-Koehler-Allee 079 > D-79110 Freiburg, Germany > Phone: +49-761-203-8005 > muellerj@informatik.uni-**freiburg.de<mue...@in...> > http://www.informatik.uni-**freiburg.de/~muellerj/<http://www.informatik.uni-freiburg.de/%7Emuellerj/> > ..............................**.................... > |
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From: Joerg M. <mue...@in...> - 2011-09-26 16:02:35
|
Hello Ioan, I would suggest to add that function (with a fallback default implementation) and also change the RRT (and KPIECE?) implementation to use it. I will then override that function in the implementation for my blimp robot. Thank you. Joerg Am 26.09.2011 08:49, schrieb Ioan Sucan: > Hello Joerg! > > Thank you for the reminder! The solution I had in mind when we talked at > the tutorial is what Mark said. The function he is talking about will be > in the repository soon. Would that be sufficient for your needs? > > Ioan > > > On Mon, Sep 26, 2011 at 8:31 AM, Mark Moll <mm...@ri... > <mailto:mm...@ri...>> wrote: > > Joerg, > > That would be very useful, but in general this is very hard. Given > some system of the form qdot = f(q,u) it is impossible for OMPL to > figure out how to steer the system towards a desired state. However, > for specific systems (such as cars) it may be possible to do this. > This requires a small change to the ControlSampler API to create a > member function that takes as input the state that you want to steer > the system to. > > On Sep 25, 2011, at 6:49 PM, Joerg Mueller wrote: > > > Hi Ioan, > > > > as previously discussed, I would like to request for an extension > of the > > ControlSampler for a "smart" sampling of a control that moves the > robot > > from the tree state towards the sampled/desired state in RRT > planning. > > > > Regards, > > Joerg > > > > -- > > > > .................................................. > > Joerg Mueller, Dipl. Inf. > > Albert-Ludwigs-University of Freiburg > > Department of Computer Science > > Autonomous Intelligent Systems > > Georges-Koehler-Allee 079 > > D-79110 Freiburg, Germany > > Phone: +49-761-203-8005 <tel:%2B49-761-203-8005> > > Fax: +49-761-203-8007 <tel:%2B49-761-203-8007> > > mue...@in... > <mailto:mue...@in...> > > http://www.informatik.uni-freiburg.de/~muellerj/ > <http://www.informatik.uni-freiburg.de/%7Emuellerj/> > > .................................................. > > > > > ------------------------------------------------------------------------------ > > All the data continuously generated in your IT infrastructure > contains a > > definitive record of customers, application performance, security > > threats, fraudulent activity and more. Splunk takes this data and > makes > > sense of it. Business sense. IT sense. Common sense. > > http://p.sf.net/sfu/splunk-d2dcopy1 > > _______________________________________________ > > ompl-users mailing list > > omp...@li... > <mailto:omp...@li...> > > https://lists.sourceforge.net/lists/listinfo/ompl-users > > > > -- > Mark Moll > > > > > ------------------------------------------------------------------------------ > All the data continuously generated in your IT infrastructure contains a > definitive record of customers, application performance, security > threats, fraudulent activity and more. Splunk takes this data and makes > sense of it. Business sense. IT sense. Common sense. > http://p.sf.net/sfu/splunk-d2dcopy1 > _______________________________________________ > ompl-users mailing list > omp...@li... > <mailto:omp...@li...> > https://lists.sourceforge.net/lists/listinfo/ompl-users > > -- .................................................. Joerg Mueller, Dipl. Inf. Albert-Ludwigs-University of Freiburg Department of Computer Science Autonomous Intelligent Systems Georges-Koehler-Allee 079 D-79110 Freiburg, Germany Phone: +49-761-203-8005 mue...@in... http://www.informatik.uni-freiburg.de/~muellerj/ .................................................. |
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From: Ioan S. <is...@gm...> - 2011-09-26 15:50:07
|
Hello Joerg! Thank you for the reminder! The solution I had in mind when we talked at the tutorial is what Mark said. The function he is talking about will be in the repository soon. Would that be sufficient for your needs? Ioan On Mon, Sep 26, 2011 at 8:31 AM, Mark Moll <mm...@ri...> wrote: > Joerg, > > That would be very useful, but in general this is very hard. Given some > system of the form qdot = f(q,u) it is impossible for OMPL to figure out how > to steer the system towards a desired state. However, for specific systems > (such as cars) it may be possible to do this. This requires a small change > to the ControlSampler API to create a member function that takes as input > the state that you want to steer the system to. > > On Sep 25, 2011, at 6:49 PM, Joerg Mueller wrote: > > > Hi Ioan, > > > > as previously discussed, I would like to request for an extension of the > > ControlSampler for a "smart" sampling of a control that moves the robot > > from the tree state towards the sampled/desired state in RRT planning. > > > > Regards, > > Joerg > > > > -- > > > > .................................................. > > Joerg Mueller, Dipl. Inf. > > Albert-Ludwigs-University of Freiburg > > Department of Computer Science > > Autonomous Intelligent Systems > > Georges-Koehler-Allee 079 > > D-79110 Freiburg, Germany > > Phone: +49-761-203-8005 > > Fax: +49-761-203-8007 > > mue...@in... > > http://www.informatik.uni-freiburg.de/~muellerj/ > > .................................................. > > > > > ------------------------------------------------------------------------------ > > All the data continuously generated in your IT infrastructure contains a > > definitive record of customers, application performance, security > > threats, fraudulent activity and more. Splunk takes this data and makes > > sense of it. Business sense. IT sense. Common sense. > > http://p.sf.net/sfu/splunk-d2dcopy1 > > _______________________________________________ > > ompl-users mailing list > > omp...@li... > > https://lists.sourceforge.net/lists/listinfo/ompl-users > > > > -- > Mark Moll > > > > > > ------------------------------------------------------------------------------ > All the data continuously generated in your IT infrastructure contains a > definitive record of customers, application performance, security > threats, fraudulent activity and more. Splunk takes this data and makes > sense of it. Business sense. IT sense. Common sense. > http://p.sf.net/sfu/splunk-d2dcopy1 > _______________________________________________ > ompl-users mailing list > omp...@li... > https://lists.sourceforge.net/lists/listinfo/ompl-users > |
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From: Mark M. <mm...@ri...> - 2011-09-26 15:38:40
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The state validity checker for omplapp can be found in omplapp/src/omplapp/geometry/detail/PQPStateValidityChecker.h The code in omplapp is a little tricky, since it needs to handle both geometric planning and control planning. On Sep 26, 2011, at 5:35 AM, Alvaro Retortillo wrote: > Hi all, > > I need some help finding any non abstract StateValidityChecker class. > I have read it is not implemented on ompl::base, but I suppose it will be implemented on ompl::app, as something is used in the graphic user interface. I cannot find any. > > The point is checking how to interact with meshes of robots and environments, to check if a state is valid for a specific point of the environment. > > Thank you all > > Alvaro Retortillo. > ¡Saludos! > ------------------------------------------------------------------------------ > All the data continuously generated in your IT infrastructure contains a > definitive record of customers, application performance, security > threats, fraudulent activity and more. Splunk takes this data and makes > sense of it. Business sense. IT sense. Common sense. > http://p.sf.net/sfu/splunk-d2dcopy1_______________________________________________ > ompl-users mailing list > omp...@li... > https://lists.sourceforge.net/lists/listinfo/ompl-users -- Mark Moll |
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From: Mark M. <mm...@ri...> - 2011-09-26 15:32:01
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Joerg, That would be very useful, but in general this is very hard. Given some system of the form qdot = f(q,u) it is impossible for OMPL to figure out how to steer the system towards a desired state. However, for specific systems (such as cars) it may be possible to do this. This requires a small change to the ControlSampler API to create a member function that takes as input the state that you want to steer the system to. On Sep 25, 2011, at 6:49 PM, Joerg Mueller wrote: > Hi Ioan, > > as previously discussed, I would like to request for an extension of the > ControlSampler for a "smart" sampling of a control that moves the robot > from the tree state towards the sampled/desired state in RRT planning. > > Regards, > Joerg > > -- > > .................................................. > Joerg Mueller, Dipl. Inf. > Albert-Ludwigs-University of Freiburg > Department of Computer Science > Autonomous Intelligent Systems > Georges-Koehler-Allee 079 > D-79110 Freiburg, Germany > Phone: +49-761-203-8005 > Fax: +49-761-203-8007 > mue...@in... > http://www.informatik.uni-freiburg.de/~muellerj/ > .................................................. > > ------------------------------------------------------------------------------ > All the data continuously generated in your IT infrastructure contains a > definitive record of customers, application performance, security > threats, fraudulent activity and more. Splunk takes this data and makes > sense of it. Business sense. IT sense. Common sense. > http://p.sf.net/sfu/splunk-d2dcopy1 > _______________________________________________ > ompl-users mailing list > omp...@li... > https://lists.sourceforge.net/lists/listinfo/ompl-users > -- Mark Moll |
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From: Mark M. <mm...@ri...> - 2011-09-26 15:22:55
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Just *one* more thing. On my Ubuntu 10.10 virtual machine I also had to apply the attached patch. The next release will have proper fixes for all these issues. |
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From: Alvaro R. <ret...@us...> - 2011-09-26 10:36:13
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Hi all, I need some help finding any non abstract StateValidityChecker class. I have read it is not implemented on ompl::base, but I suppose it will be implemented on ompl::app, as something is used in the graphic user interface. I cannot find any. The point is checking how to interact with meshes of robots and environments, to check if a state is valid for a specific point of the environment. Thank you all Alvaro Retortillo. ¡Saludos! |
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From: Mark M. <mm...@ri...> - 2011-09-26 05:20:15
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Hi all, If you have downloaded OMPL.app, you may have noticed that it includes the automatically generated code needed for Python bindings. What I didn’t realize until recently is that this binding code depends on the particular version of Boost. If the version of Boost used when *generating* the code is very different from the version of Boost to *compile* the generated code, bad things happen. I generated the bindings with Boost 1.47 installed and many Ubuntu users have Boost 1.42 installed. The solution is to remove the generated code that comes with OMPL.app like so: rm -rf omplapp/py-bindings/bindings omplapp/ompl/py-bindings/bindings and then re-generate them. Regenerating the python bindings requires installing Py++ first. General instructions for that are available here: http://ompl.kavrakilab.org/installPyPlusPlus.html. MacPorts users can install Py++ like so: sudo port install py27-pyplusplus-devel After Py++ is installed, cd to the omplapp build directory and type “make update_bindings && make”. If anyone still has problems with the python bindings, please let me know. Also, if you just don’t care about Python bindings and don’t even want to try to compile them, you can disable them by typing this in your build directory: cmake -DOMPL_BUILD_PYBINDINGS=OFF . (Don’t forget the period at the end.) -- Mark Moll |
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From: Joerg M. <mue...@in...> - 2011-09-25 23:50:08
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Hi Ioan, as previously discussed, I would like to request for an extension of the ControlSampler for a "smart" sampling of a control that moves the robot from the tree state towards the sampled/desired state in RRT planning. Regards, Joerg -- .................................................. Joerg Mueller, Dipl. Inf. Albert-Ludwigs-University of Freiburg Department of Computer Science Autonomous Intelligent Systems Georges-Koehler-Allee 079 D-79110 Freiburg, Germany Phone: +49-761-203-8005 Fax: +49-761-203-8007 mue...@in... http://www.informatik.uni-freiburg.de/~muellerj/ .................................................. |
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From: Mark M. <mm...@ri...> - 2011-09-13 15:05:22
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====================================== IROS 2011 Tutorial: Motion Planning for Real Robots ====================================== Date and Format: Full day tutorial on Sunday, September 25, 2011 at IROS 2011 in San Francisco. Tutorial Website: http://www.willowgarage.com/workshop/2011/iros_motion_planning_tutorial Registration ------------------ If you are interested in attending this tutorial, please provide us some more information using the form here: http://www.kavrakilab.org/iros2011tutorial.html. Please note that this is not the official tutorial registration; you still need to register for the tutorial at the conference registration site. Abstract ------------- This full-day tutorial will teach both novice and experienced participants how to setup, configure and use motion planning on a real robot. Novice users can expect to learn how to set up, configure and execute the perceptual, kinematic, planning and execution components required for motion planning on an advanced multiple degree of freedom robot. Expert users will be able to explore the motion planners in more details, focusing on how they can be reconfigured for particular tasks. The tutorial will be based on a set of tools within the OMPL (Open Motion Planning Library) and ROS (Robot Operating System) software. The participants will have access to simulated environments and real robots (the Willow Garage PR2 robots) for a hands-on experience in using motion planning with real robots. The tutorial will conclude with an examination of case studies based on suggestions from the participants and organizers, highlighting how the motion planners can be configured for particular robots or motion planning scenarios. Organizers --------------- Sachin Chitta and E. Gil Jones Willow Garage, Inc. (sachinc,gjones)@willowgarage.com Ioan Sucan, Mark Moll, and Lydia E. Kavraki Rice University (isucan,mmoll,kavraki)@rice.edu -- Mark Moll http://www.cs.rice.edu/~mmoll Rice University, MS 132, PO Box 1892, Houston, TX 77251 713-348-5934 (phone), 713-348-5930 (fax) |
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From: Gustavo G. <gus...@gm...> - 2011-08-25 05:31:47
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Thank you for the helpful examples! On Wed, Aug 24, 2011 at 9:43 AM, Mark Moll <mm...@ri...> wrote: > Or you can do it in this slightly more involved way that does call the constructor with the list of sub-spaces directly: > > ------------------------- > from ompl import base as ob > > R0 = ob.RealVectorStateSpace(1) > R1 = ob.RealVectorStateSpace(1) > R01 = ob.vectorStateSpacePtr() > R01.extend([R0, R1]) > w = ob.vectorDouble() > w.extend([1, .5]) > C = ob.CompoundStateSpace(R01, w) > > s = ob.State(C) > print s > ------------------------- > > On Aug 24, 2011, at 8:27 AM, Mark Moll wrote: > >> You can do it this way: >> >> ------------------------- >> from ompl import base as ob >> >> R0 = ob.RealVectorStateSpace(1) >> R1 = ob.RealVectorStateSpace(1) >> C = ob.CompoundStateSpace() >> C.addSubSpace(R0, 1) >> C.addSubSpace(R1, .5) >> >> s = ob.State(C) >> print s >> ------------------------- >> >> On Aug 24, 2011, at 1:47 AM, Gustavo Goretkin wrote: >> >>> I liked the suggestion using the CompoundStateSpace. >>> >>> I am using the Python bindings but I haven't been able to create the >>> std::vector of components to pass to the CompoundStateSpace >>> constructor. I've seen this reference here [1] about collections and >>> boost.python, Py++ but I don't know how to create the std::vector< >>> StateSpacePtr > and std::vector< double > objects in the first place. >>> >>> >>> On Mon, Aug 22, 2011 at 3:38 PM, Mark Moll <mm...@ri...> wrote: >>>> >>>> You can either create a CompoundStateSpace of RealVectorSpace with different weights for each sub-state space or subclass an existing state space as you suggested. >>>> >>>> On Aug 22, 2011, at 2:02 PM, Gustavo Goretkin wrote: >>>> >>>>> What's the proper way to define a new distance metric for a >>>>> StateSpace? For example, I'd like to use a Euclidean metric, but with >>>>> weights on each dimension, what could I do? >>>>> >>>>> I thought about subclassing RealVectorSpace, but I thought that there >>>>> might be away to set a pointer to a distance function (just as is done >>>>> for the propagate function in the control planners). >>>>> >>>>> Thanks, >>>>> Gustavo >>>>> >>>>> ------------------------------------------------------------------------------ >>>>> uberSVN's rich system and user administration capabilities and model >>>>> configuration take the hassle out of deploying and managing Subversion and >>>>> the tools developers use with it. Learn more about uberSVN and get a free >>>>> download at: http://p.sf.net/sfu/wandisco-dev2dev >>>>> _______________________________________________ >>>>> ompl-users mailing list >>>>> omp...@li... >>>>> https://lists.sourceforge.net/lists/listinfo/ompl-users >>>>> >>>> >>>> -- >>>> Mark Moll >>>> >>>> >>>> >>> >> >> -- >> Mark Moll >> >> >> > > -- > Mark Moll > > > > |
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From: Mark M. <mm...@ri...> - 2011-08-24 13:44:07
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Or you can do it in this slightly more involved way that does call the constructor with the list of sub-spaces directly: ------------------------- from ompl import base as ob R0 = ob.RealVectorStateSpace(1) R1 = ob.RealVectorStateSpace(1) R01 = ob.vectorStateSpacePtr() R01.extend([R0, R1]) w = ob.vectorDouble() w.extend([1, .5]) C = ob.CompoundStateSpace(R01, w) s = ob.State(C) print s ------------------------- On Aug 24, 2011, at 8:27 AM, Mark Moll wrote: > You can do it this way: > > ------------------------- > from ompl import base as ob > > R0 = ob.RealVectorStateSpace(1) > R1 = ob.RealVectorStateSpace(1) > C = ob.CompoundStateSpace() > C.addSubSpace(R0, 1) > C.addSubSpace(R1, .5) > > s = ob.State(C) > print s > ------------------------- > > On Aug 24, 2011, at 1:47 AM, Gustavo Goretkin wrote: > >> I liked the suggestion using the CompoundStateSpace. >> >> I am using the Python bindings but I haven't been able to create the >> std::vector of components to pass to the CompoundStateSpace >> constructor. I've seen this reference here [1] about collections and >> boost.python, Py++ but I don't know how to create the std::vector< >> StateSpacePtr > and std::vector< double > objects in the first place. >> >> >> On Mon, Aug 22, 2011 at 3:38 PM, Mark Moll <mm...@ri...> wrote: >>> >>> You can either create a CompoundStateSpace of RealVectorSpace with different weights for each sub-state space or subclass an existing state space as you suggested. >>> >>> On Aug 22, 2011, at 2:02 PM, Gustavo Goretkin wrote: >>> >>>> What's the proper way to define a new distance metric for a >>>> StateSpace? For example, I'd like to use a Euclidean metric, but with >>>> weights on each dimension, what could I do? >>>> >>>> I thought about subclassing RealVectorSpace, but I thought that there >>>> might be away to set a pointer to a distance function (just as is done >>>> for the propagate function in the control planners). >>>> >>>> Thanks, >>>> Gustavo >>>> >>>> ------------------------------------------------------------------------------ >>>> uberSVN's rich system and user administration capabilities and model >>>> configuration take the hassle out of deploying and managing Subversion and >>>> the tools developers use with it. Learn more about uberSVN and get a free >>>> download at: http://p.sf.net/sfu/wandisco-dev2dev >>>> _______________________________________________ >>>> ompl-users mailing list >>>> omp...@li... >>>> https://lists.sourceforge.net/lists/listinfo/ompl-users >>>> >>> >>> -- >>> Mark Moll >>> >>> >>> >> > > -- > Mark Moll > > > -- Mark Moll |
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From: Mark M. <mm...@ri...> - 2011-08-24 13:27:30
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You can do it this way: ------------------------- from ompl import base as ob R0 = ob.RealVectorStateSpace(1) R1 = ob.RealVectorStateSpace(1) C = ob.CompoundStateSpace() C.addSubSpace(R0, 1) C.addSubSpace(R1, .5) s = ob.State(C) print s ------------------------- On Aug 24, 2011, at 1:47 AM, Gustavo Goretkin wrote: > I liked the suggestion using the CompoundStateSpace. > > I am using the Python bindings but I haven't been able to create the > std::vector of components to pass to the CompoundStateSpace > constructor. I've seen this reference here [1] about collections and > boost.python, Py++ but I don't know how to create the std::vector< > StateSpacePtr > and std::vector< double > objects in the first place. > > > On Mon, Aug 22, 2011 at 3:38 PM, Mark Moll <mm...@ri...> wrote: >> >> You can either create a CompoundStateSpace of RealVectorSpace with different weights for each sub-state space or subclass an existing state space as you suggested. >> >> On Aug 22, 2011, at 2:02 PM, Gustavo Goretkin wrote: >> >>> What's the proper way to define a new distance metric for a >>> StateSpace? For example, I'd like to use a Euclidean metric, but with >>> weights on each dimension, what could I do? >>> >>> I thought about subclassing RealVectorSpace, but I thought that there >>> might be away to set a pointer to a distance function (just as is done >>> for the propagate function in the control planners). >>> >>> Thanks, >>> Gustavo >>> >>> ------------------------------------------------------------------------------ >>> uberSVN's rich system and user administration capabilities and model >>> configuration take the hassle out of deploying and managing Subversion and >>> the tools developers use with it. Learn more about uberSVN and get a free >>> download at: http://p.sf.net/sfu/wandisco-dev2dev >>> _______________________________________________ >>> ompl-users mailing list >>> omp...@li... >>> https://lists.sourceforge.net/lists/listinfo/ompl-users >>> >> >> -- >> Mark Moll >> >> >> > -- Mark Moll |
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From: Gustavo G. <gus...@gm...> - 2011-08-24 06:47:35
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I liked the suggestion using the CompoundStateSpace. I am using the Python bindings but I haven't been able to create the std::vector of components to pass to the CompoundStateSpace constructor. I've seen this reference here [1] about collections and boost.python, Py++ but I don't know how to create the std::vector< StateSpacePtr > and std::vector< double > objects in the first place. On Mon, Aug 22, 2011 at 3:38 PM, Mark Moll <mm...@ri...> wrote: > > You can either create a CompoundStateSpace of RealVectorSpace with different weights for each sub-state space or subclass an existing state space as you suggested. > > On Aug 22, 2011, at 2:02 PM, Gustavo Goretkin wrote: > > > What's the proper way to define a new distance metric for a > > StateSpace? For example, I'd like to use a Euclidean metric, but with > > weights on each dimension, what could I do? > > > > I thought about subclassing RealVectorSpace, but I thought that there > > might be away to set a pointer to a distance function (just as is done > > for the propagate function in the control planners). > > > > Thanks, > > Gustavo > > > > ------------------------------------------------------------------------------ > > uberSVN's rich system and user administration capabilities and model > > configuration take the hassle out of deploying and managing Subversion and > > the tools developers use with it. Learn more about uberSVN and get a free > > download at: http://p.sf.net/sfu/wandisco-dev2dev > > _______________________________________________ > > ompl-users mailing list > > omp...@li... > > https://lists.sourceforge.net/lists/listinfo/ompl-users > > > > -- > Mark Moll > > > |
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From: Mark M. <mm...@ri...> - 2011-08-22 19:38:36
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You can either create a CompoundStateSpace of RealVectorSpace with different weights for each sub-state space or subclass an existing state space as you suggested. On Aug 22, 2011, at 2:02 PM, Gustavo Goretkin wrote: > What's the proper way to define a new distance metric for a > StateSpace? For example, I'd like to use a Euclidean metric, but with > weights on each dimension, what could I do? > > I thought about subclassing RealVectorSpace, but I thought that there > might be away to set a pointer to a distance function (just as is done > for the propagate function in the control planners). > > Thanks, > Gustavo > > ------------------------------------------------------------------------------ > uberSVN's rich system and user administration capabilities and model > configuration take the hassle out of deploying and managing Subversion and > the tools developers use with it. Learn more about uberSVN and get a free > download at: http://p.sf.net/sfu/wandisco-dev2dev > _______________________________________________ > ompl-users mailing list > omp...@li... > https://lists.sourceforge.net/lists/listinfo/ompl-users > -- Mark Moll |
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From: Gustavo G. <gus...@gm...> - 2011-08-22 19:02:28
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What's the proper way to define a new distance metric for a StateSpace? For example, I'd like to use a Euclidean metric, but with weights on each dimension, what could I do? I thought about subclassing RealVectorSpace, but I thought that there might be away to set a pointer to a distance function (just as is done for the propagate function in the control planners). Thanks, Gustavo |
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From: Mark M. <mm...@ri...> - 2011-08-22 18:58:30
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Gustavo, Take a look at DiscreteStateSpace. This implements something analogous for state spaces. Like you suggested, the types of “meshes” you mention can then easily be constructed using the CompoundControl class. For state spaces there are handy operators so you can construct state space meshes like so: ompl::base::StateSpacePtr X = ompl::base::StateSpacePtr(new ompl::base::DiscreteStateSpace()); ompl::base::StateSpacePtr Y = ompl::base::StateSpacePtr(new ompl::base::DiscreteStateSpace()); ompl::base::StateSpacePtr XYGrid = X+Y; This does not exist yet for ControlSpaces, because we only have one concrete implementation of a control space (RealVectorControlSpace). On Aug 22, 2011, at 1:16 PM, Gustavo Goretkin wrote: > Ioan, > > Thanks for the encouragement! I have not yet implemented this, but I > would like to start on it soon. I am considering the following > approach. > > Make a RealVectorControlSpaceDiscrete (or better name) that is > constructed with a finite list of vector values. For example a > discrete control space in 2 dimensions where only one dimension should > be non-zero for a given control could be initialized with a list of > vectors like [(0,1) ; (0,-1); (0,0); (1,0); (-1,0)] > > If we want a "mesh" control space, where each dimension can be sampled > independently, it would probably better to make several > RealVectorControlSpaceDiscrete spaces (one for each dimension) and > combine them in a CompoundControl. > > Thanks, > Gustavo > > On Wed, Aug 17, 2011 at 12:25 PM, Ioan Alexandru Sucan <is...@gm...> wrote: >> Gustavo, >> >> Your intuition is correct. If you simply change the sampler for a >> RealVectorControlSpace, things will work as you expect. >> >> However, a representation of a discrete set of controls >> (DiscreteControlSpace) could be added to OMPL (I am quite inclined to do >> so). >> Please let me know if you would find that useful. Or, if you have it >> implemented (or plan to implement it), we would welcome your contribution. >> >> Thanks for pointing this out! >> >> Ioan >> >> On Wed, Aug 17, 2011 at 4:28 PM, Gustavo Goretkin >> <gus...@gm...> wrote: >>> >>> Are there any facilities in OMPL to describe a finite control space as >>> opposed to a continuous control space? For the kinodynamic motion planners, >>> is the only step that would need to be changed the control sampling step? >>> >>> Thanks, >>> Gustavo >>> >>> >>> ------------------------------------------------------------------------------ >>> Get a FREE DOWNLOAD! and learn more about uberSVN rich system, >>> user administration capabilities and model configuration. Take >>> the hassle out of deploying and managing Subversion and the >>> tools developers use with it. http://p.sf.net/sfu/wandisco-d2d-2 >>> _______________________________________________ >>> ompl-users mailing list >>> omp...@li... >>> https://lists.sourceforge.net/lists/listinfo/ompl-users >>> >> >> > > ------------------------------------------------------------------------------ > uberSVN's rich system and user administration capabilities and model > configuration take the hassle out of deploying and managing Subversion and > the tools developers use with it. Learn more about uberSVN and get a free > download at: http://p.sf.net/sfu/wandisco-dev2dev > _______________________________________________ > ompl-users mailing list > omp...@li... > https://lists.sourceforge.net/lists/listinfo/ompl-users > -- Mark Moll |
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