OMPL Plugin for V-Rep

Question

I am trying to implement a path planning algorithm in V-Rep. In Tools -> Calculation Module Properties -> Path Planning, V-Rep recommends to use the OMPL plugin for path planning. I couldn't find any information (In V-Rep as well as OMPL's websites) regarding where to get the plugin. Where might I get it and how can I use it in V-Rep?

Answer 1

The OMPL plugin is integrated on Vrep, at least in latest versions (>3.3.0), so you doesn't need to download anything.

They sugest some scenarios as example, like the "motionPlanningDemo1" or "scenes/6DoFHolonomicPathPlanning.ttt".

One basic guide:

1) Create a task, simExtOMPL_createTask()

2) Define the State Space, simExtOMPL_createStateSpace()

3) Associate the State Space to the task previously created, simExtOMPL_setStateSpace()

4) Choose the algorithm you want, simExtOMPL_setAlgorithm()

5) Define the colisions, simExtOMPL_setColisionPairs()

6) Define the inictial state, simExtOMPL_setStartState()

7) Define the final state, simExtOMPL_setGoal()

8) Calculate the path, simExtOMPL_compute()

For documentations about Path Planning using OMPL, please see the chapter Path and motion planning on Vrep documentation.