Add path planner - Githubissues

humanoid-path-planner / hpp-doc

Documentation for project Humanoid Path Planner

https://humanoid-path-planner.github.io/hpp-doc

ISC License

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Add path planner #50

Closed BoSmallEar closed 5 years ago

BoSmallEar commented 5 years ago

Hi, I want to use my own path planner (based on A*) with the HPP framework. I'm a little confused about how to do so. Do I have to inherit from the hpp::core::PathPlanner class and override the methods? Do I need to make any modifications on the corba server side? I noticed that there is a void hpp::corbaserver::Problem::selectPathPlanner method for the client.

BoSmallEar commented 5 years ago

Sorry, I just saw there is a tutotial-2 for this issue. I will re-open if needed.

BoSmallEar commented 5 years ago

Actually I want to modify the path-planning part of the rbprm module and keep other parts in the pipeline unchanged, however this module is very complicated and it run several servers. Therefore how should I modify this module to add another path planner?

jmirabel commented 5 years ago

There are several steps to follow.

Implement your algorithm that inherits from PathPlanner.
Make it available to the ProblemSolver. For this, either:
- follow tutorial 2 and make a new executable,
- (the less intrusive method) use plugins. You can find an example plugin in hpp-core/tests/. If you use plugins, you must add something like ps.loadPlugin("plugin.so") to your script.
Make sure RBPRM uses your planner at the right time.

For the last step, you have to be more precise. What step of the RBPRM planner do you want to modify ? the algo for planning a trajectory of the root, the algo for planning a trajectory of the root or any other ?

BoSmallEar commented 5 years ago

I want to change the algo for planning a trajectory of the root(the path used for contact generation), I think the server side of this module seems to be very different from the original corbaserver.

jmirabel commented 5 years ago

Then it should be sufficient to create a planner class and use selectPathPlanner. For testing purpose, you can do it in the source file containing the main function, in hpp-rbprm-corba.

BoSmallEar commented 5 years ago

The base class Path-planner will run oneStep until a solution is found. Does that mean the planner will stop when the start node and the goal node are connected and I have to implement the planner with a explicit roadmap?

jmirabel commented 5 years ago

Method oneStep fills the roadmap with configurations and paths. It is responsible neither for checking whether the problem is solved nor for computing the solution path.

I have to implement the planner with a explicit roadmap?

I don't understand what you mean.

jmirabel commented 5 years ago

I hope you solved your problem. I close this because it has been inactive for some time. @BoSmallEar re-open if necessary.