Parameters for planners

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Parameters for planners

waxwings
hi Rosen,

got another question. is there a documentation on how to set parameters to the rplanners, or could you paste some examples here?
thanx
yimei
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Re: Parameters for planners

Okal Billy
HI waxwings,

The PlannerBase::PlannerParameters class handles all the params stuff, and allows for adding extra parameters.

Also, one can define a basic class out if this to define more specific params, say

class MyParams : public PlannerBase::PlannerParameters
....


Billy




On 15 October 2010 12:25, waxwings <[hidden email]> wrote:

hi Rosen,

got another question. is there a documentation on how to set parameters to
the rplanners, or could you paste some examples here?
thanx
yimei
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Billy Okal
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#5383, MA 333
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Re: Parameters for planners

Rosen Diankov
Administrator
hi yimei,

Check out the rmanipulation/commonmanipulation.h file. It defines
planner parameter structures that are then used directly by rplanners.
Even though rplanners is a different shared object, you can easily
pass custom parameters to it because planner parameters serializes to
XML.

Also, this example shows how to use planner parameters in general:

http://openrave.programmingvision.com/ordocs/en/html/orplanning_planner_8cpp-example.html

rosen,

2010/10/15 Billy Okal <[hidden email]>:

> HI waxwings,
> The PlannerBase::PlannerParameters class handles all the params stuff, and
> allows for adding extra parameters.
> Also, one can define a basic class out if this to define more specific
> params, say
> class MyParams : public PlannerBase::PlannerParameters
> ....
>
> Billy
>
>
>
> On 15 October 2010 12:25, waxwings <[hidden email]> wrote:
>>
>> hi Rosen,
>>
>> got another question. is there a documentation on how to set parameters to
>> the rplanners, or could you paste some examples here?
>> thanx
>> yimei
>> --
>> View this message in context:
>> http://openrave-users-list.185357.n3.nabble.com/Parameters-for-planners-tp1706882p1706882.html
>> Sent from the OpenRAVE Users List mailing list archive at Nabble.com.
>>
>>
>> ------------------------------------------------------------------------------
>> Download new Adobe(R) Flash(R) Builder(TM) 4
>> The new Adobe(R) Flex(R) 4 and Flash(R) Builder(TM) 4 (formerly
>> Flex(R) Builder(TM)) enable the development of rich applications that run
>> across multiple browsers and platforms. Download your free trials today!
>> http://p.sf.net/sfu/adobe-dev2dev
>> _______________________________________________
>> Openrave-users mailing list
>> [hidden email]
>> https://lists.sourceforge.net/lists/listinfo/openrave-users
>
>
>
> --
> Viele Gruss/Best Regards,
> Billy Okal
> Jacobs University Bremen
> #5383, MA 333
> -------------------------------------------------------------------------------------------------------
> "sure vi is user friendly, its just particular about who to be friends with"
>
> ------------------------------------------------------------------------------
> Download new Adobe(R) Flash(R) Builder(TM) 4
> The new Adobe(R) Flex(R) 4 and Flash(R) Builder(TM) 4 (formerly
> Flex(R) Builder(TM)) enable the development of rich applications that run
> across multiple browsers and platforms. Download your free trials today!
> http://p.sf.net/sfu/adobe-dev2dev
> _______________________________________________
> Openrave-users mailing list
> [hidden email]
> https://lists.sourceforge.net/lists/listinfo/openrave-users
>
>

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Re: Parameters for planners

waxwings
In reply to this post by Okal Billy
hi Billy,

thanks for the quick reply. what i meant was if i am calling a rplanner in OpenRAVE, say the RAStarplanner, how can i set the parameters and pass them to it?

i tried the following but it crashes with an openrave exception

boost::shared_ptr<RAStarParameters> params(new RAStarParameters());
...
probot->GetActiveDOFValues(params->vinitialconfig);
...
params->vgoalconfig=values;
...
TrajectoryBasePtr ptraj = env->CreateTrajectory(probot->GetActiveDOF());
...
planner->InitPlan(probot, params);//and it crashes here

yimei

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Re: Parameters for planners

Rosen Diankov
Administrator
hi yimei,

I think this is a problem with the RAStar planner, not with they way
you are using it.

rosen,

2010/10/15 waxwings <[hidden email]>:

>
> hi Billy,
>
> thanks for the quick reply. what i meant was if i am calling a rplanner in
> OpenRAVE, say the RAStarplanner, how can i set the parameters and pass them
> to it?
>
> i tried the following but it crashes with an openrave exception
>
> boost::shared_ptr<RAStarParameters> params(new RAStarParameters());
> ...
> probot->GetActiveDOFValues(params->vinitialconfig);
> ...
> params->vgoalconfig=values;
> ...
> TrajectoryBasePtr ptraj = env->CreateTrajectory(probot->GetActiveDOF());
> ...
> planner->InitPlan(probot, params);//and it crashes here
>
> yimei
>
>
> --
> View this message in context: http://openrave-users-list.185357.n3.nabble.com/Parameters-for-planners-tp1706882p1707054.html
> Sent from the OpenRAVE Users List mailing list archive at Nabble.com.
>
> ------------------------------------------------------------------------------
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> The new Adobe(R) Flex(R) 4 and Flash(R) Builder(TM) 4 (formerly
> Flex(R) Builder(TM)) enable the development of rich applications that run
> across multiple browsers and platforms. Download your free trials today!
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>

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