Add Dubin'ss state-space support for OMPL solvers

ipab-slmc / exotica

Extensible Optimization Framework

https://ipab-slmc.github.io/exotica

BSD 3-Clause "New" or "Revised" License

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Add Dubin'ss state-space support for OMPL solvers #707

Closed maxspahn closed 4 years ago

maxspahn commented 4 years ago

Implementation of dubinStateSpace for exotica. Compilation works but the execution does not run with test case "example_ompl_freebase.xml".

It still needs parameterization.

Resolves #701.

wxmerkt commented 4 years ago

Thanks for the PR! I figured out the issue and will upload a fix to the branch soon.

ompl_dubins

maxspahn commented 4 years ago

I am looking forward to the fix! Looks exactly as what I have expected.

wxmerkt commented 4 years ago

Here is an overview of what got changed by this pull request:


Clones added
============
- exotations/solvers/exotica_ompl_solver/include/exotica_ompl_solver/ompl_exo.h  5
- exotations/solvers/exotica_ompl_solver/src/ompl_exo.cpp  8

See the complete overview on Codacy

wxmerkt commented 4 years ago

I've pushed the fixes to this PR and made the option to activate Dubin or regular SE(2) planning space an initializer parameter. There is now also an example.