8000 OMPL: Add EIT* and EIRM* planners by simonschmeisser · Pull Request #3437 · moveit/moveit · GitHub
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OMPL: Add EIT* and EIRM* planners #3437

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OMPL: Add EIT* and EIRM* planners #3437

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@simonschmeisser simonschmeisser commented May 21, 2023 •
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This adds support for EIT* and EIRM* planners to the OMPL plugin. ompl/ompl#844

They are not yet part of a release and unfortunately OMPL does not increment its version number post release so the versioned includes are off by one and should actually check for 1.7.0

Checklist

  • Required by CI: Code is auto formatted using clang-format
  • Wait for OMPL 1.7.0 release to have a proper include guard
  • Needs support for roadmap loading/saving in EIRM*
error: no matching function for call to ‘ompl::geometric::EIRMstar::EIRMstar(const ompl::base::PlannerData&)’

@marlinstrub @yurirocha15 @alaflaquiere

yurirocha15
yurirocha15 reviewed May 22, 2023
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moveit_planners/ompl/ompl_interface/src/planning_context_manager.cpp Outdated
Comment on lines 239 to 242
MultiQueryPlannerAllocator::allocatePersistentPlanner<ompl::geometric::EIRMstar>(const ob::PlannerData& data)
{
return new og::EIRMstar(data);
};

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There are two aspects, MultiQuery means once initialized previous runs will be considered in some way. PersistensPlanner means there are also ways to load and save PlannerData from disk.

I could just change this data->getSpaceInformation() but I was trying to inspire you or @marlinstrub to actually contribute the feature in OMPL 😉 for feature parity with other MultiQuery planners

@simonschmeisser simonschmeisser mentioned this pull request May 22, 2023
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@simonschmeisser simonschmeisser marked this pull request as ready for review June 9, 2023 15:56
rhaschke
rhaschke approved these changes Jun 13, 2023
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I approve. Obviously, before merging, this requires a new release of OMPL.

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rhaschke commented Jan 9, 2025

@simonschmeisser Could you please resolve the conflicts.

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@yurirocha15 yurirocha15 yurirocha15 left review comments

@rhaschke rhaschke rhaschke approved these changes

@mamoll mamoll Awaiting requested review from mamoll mamoll is a code owner

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