In an openrave plugin that returns the trajectory string,
-----
t->serialize(out);
OpenRAVE::CollisionReportPtr report(new OpenRAVE::CollisionReport());
for (double time=0.0; time<t->GetDuration(); time+=0.01)
{
std::vector< OpenRAVE::dReal > point;
t->Sample(point, time);
robot->SetActiveDOFValues(point);
if (env->CheckCollision(robot,report)) {...}
}
-----
Outside openrave,
-----
OpenRAVE::TrajectoryBasePtr traj = OpenRAVE::RaveCreateTrajectory(env, "");
std::ostringstream outstr;
plugin->SendCommand(outstr, args);
std::istringstream instr(outstr.str());
traj->deserialize(instr);
<the same collision checking code>
-----
Thanks.
- Evan
On 12/11/2013 03:27 PM, Rosen Diankov wrote:
> can you show how you are serializing?
> thanks
>
>
> 2013/12/12 Evan Herbst <
[hidden email] <mailto:
[hidden email]>>
>
> I can sample a trajectory before serializing it, but if I sample after, I get numerical precision errors in _ValidateLinear() (ie, x(0) + dt * v(0) != x(dt)). I assume this is due
> to the limited number of significant digits that are output in serialization. Is there a binary serialization option?
>
> Thanks.
>
> - Evan
>
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