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Added baked support to CBiRRT and OMPL #340

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merged 2 commits into from
Aug 12, 2016
Merged

Added baked support to CBiRRT and OMPL #340

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c9d59b3
Added baked collision detection support to CBiRRT.
Aug 12, 2016
af95424
Added baked collision detection support to OMPL.
Aug 12, 2016
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3 changes: 3 additions & 0 deletions src/prpy/planning/cbirrt.py
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Original file line number Diff line number Diff line change
Expand Up @@ -225,6 +225,9 @@ def Plan(self, robot, smoothingitrs=None, timelimit=None, allowlimadj=0,
args += ['bdofresl2norm', '1']
args += ['steplength', '0.05999']

if self._is_baked:
args += ['bbakedcheckers', '1']

if extra_args is not None:
args += extra_args

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3 changes: 3 additions & 0 deletions src/prpy/planning/ompl.py
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Expand Up @@ -123,6 +123,9 @@ def _Plan(self, robot, goal=None, tsrchains=None, timeout=30., shortcut_timeout=
if formatted_extra_params is not None:
extraParams += formatted_extra_params

if self._is_baked and (ompl_args is None or 'do_baked' not in ompl_args):
extraParams += '<do_baked>1</do_baked>'

params = openravepy.Planner.PlannerParameters()
params.SetRobotActiveJoints(robot)
if goal is not None:
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