Comments (2)
Hello,
By default the planner always terminates after finding the first solution.
Although when the planner reaches its maximum solving time, it sometimes approximates the solution path and solve() returns true even when these approximated solution might not actually be correct. If you want to have an exact solution you most likely have to increase the solving time and use
if (ss.solve(solving_time)==ompl::base::PlannerStatus::EXACT_SOLUTION)
Best Regards
Kaiwen
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The above comment is correct. You should check if you are getting exact solutions or approximate solutions - the behavior described (if you are not using an AO planner) sounds like the planner is failing to find a solution and is returning an approximate solution. If you are using an AO planner (one with a * after the name, e.g., PRM*), these planners will use the entire allocated solution time.
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Related Issues (20)
- ss.getSolutionPath().asGeometric().printAsMatrix()
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