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?
OMPL Plugin for V-Rep
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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.