How to run multi-query motion planning?
Posted: 25 Nov 2015, 03:04
Hi Folks:
Is there a way to do multi-query motion planning in vrep?
By multi-query, I mean a motion planner that builds a roadmap of the entire environment, for example PRM.
I am aware of phase2 nodes that the existing motion planner plugin generates,
is there a way to use those nodes for multi-query motion planning?
are phase2 nodes connected in a graph forming the roadmap?
if so, how to retrieve that?
FYI: From this: viewtopic.php?f=9&t=4447
we know that currently simFindMpPath() is based on RRT, which is a single-query motion planner.
Thank you.
tor
Is there a way to do multi-query motion planning in vrep?
By multi-query, I mean a motion planner that builds a roadmap of the entire environment, for example PRM.
I am aware of phase2 nodes that the existing motion planner plugin generates,
is there a way to use those nodes for multi-query motion planning?
are phase2 nodes connected in a graph forming the roadmap?
if so, how to retrieve that?
FYI: From this: viewtopic.php?f=9&t=4447
we know that currently simFindMpPath() is based on RRT, which is a single-query motion planner.
Thank you.
tor