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I develop motion planning algorithms using ompl and I'm wondering if I can somehow change the V-Rep ompl plug-in so it runs my own ompl planning algorithms (like replace RRT-Connect, FMT,... etc with my own algorithms)?

How should I have do this?

Lewis Chiang
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1 Answers1

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Here is how to add a new planner in OMPL. OMPL is installed from source.

  1. Add the source code of the planner to ompl/src/ompl/geometric/planners just like all the other planners.
  2. Regenerate CMake related files and make. In ompl/build/Release/, do cmake . ../.. then make -j4
  3. Include the header file of your custom planner wherever needed.
fangda
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