Path planning with ompl [closed]
Good time of the day! I have several general questions and would be very appreciate if somebody could answer. Question 1: Is it possible to describe the orientation of a gripper within time interval or condition in OMPL? Like: 1) Use path planning algorithms №1 2) Take object (freeze orientation of gripper) 3) Use path planning algorithm №2 4) Put object (unfreeze orientation of gripper) Question 2: I’ve read that it is possible to make manual configuration of planners. What does that mean? What manual parameters it is possible to change manually in planner? (source of info: http://ioan.sucan.ro/files/pubs/phdthesis.pdf) It would be great if someone could share the link for description of these parameters. Question 3: Does OMPL have any optimization algorithms for path planners? (e.g. time) Thank you very much for answers. Best regards, Sergey
