Which motion planning algorithms does simFindMpPath() run?

[tor]

Hi Folks:

What kind of motion planning algorithms does simFindMpPath() run?
Is it one of these known algorithms like: simple A* search or Probabilistic Roadmap Method (PRM) or RRT* or ...?
If it is a specific one for vrep, where can I get the (pseudo)code?

Thank you.

[coppelia]

Hello,

the algorithm is a randomized algorithm, based on RRT.
We are however planning to create a plugin that will support OMPL, which will offer many different algorithms.

Cheers

[tor]

Hi Coppelia:

+1 for the planned OMPL plugin.
We would be more grateful if you could tell us the expected released date for that plugin.
Thank you.

Regards

[coppelia]

We hope to have a first version by the end of the year.

Cheers