TRRT hangs

[ompl]

TRRT hangs

[mamoll]

Original comment by Ioan Sucan (Bitbucket: isucan, GitHub: isucan).

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This actually seems to hang in NearestNeighborsGNAT:

0x00007ffff7a9cfb7 in ompl::NearestNeighborsGNAT<ompl::geometric::TRRT::Motion*>::Node::nearestK(ompl::NearestNeighborsGNAT<ompl::geometric::TRRT::Motion*> const&, ompl::geometric::TRRT::Motion* const&, unsigned long, std::priority_queue<std::pair<ompl::geometric::TRRT::Motion* const*, double>, std::vector<std::pair<ompl::geometric::TRRT::Motion* const*, double>, std::allocator<std::pair<ompl::geometric::TRRT::Motion* const*, double> > >, ompl::NearestNeighborsGNAT<ompl::geometric::TRRT::Motion*>::DataDistCompare>&, std::priority_queue<std::pair<ompl::NearestNeighborsGNAT<ompl::geometric::TRRT::Motion*>::Node*, double>, std::vector<std::pair<ompl::NearestNeighborsGNAT<ompl::geometric::TRRT::Motion*>::Node*, double>, std::allocator<std::pair<ompl::NearestNeighborsGNAT<ompl::geometric::TRRT::Motion*>::Node*, double> > >, ompl::NearestNeighborsGNAT<ompl::geometric::TRRT::Motion*>::NodeDistCompare>&, bool&) const () from /home/isucan/repos/ompl/build/lib/libompl.so.6
(gdb) bt
#0  0x00007ffff7a9cfb7 in ompl::NearestNeighborsGNAT<ompl::geometric::TRRT::Motion*>::Node::nearestK(ompl::NearestNeighborsGNAT<ompl::geometric::TRRT::Motion*> const&, ompl::geometric::TRRT::Motion* const&, unsigned long, std::priority_queue<std::pair<ompl::geometric::TRRT::Motion* const*, double>, std::vector<std::pair<ompl::geometric::TRRT::Motion* const*, double>, std::allocator<std::pair<ompl::geometric::TRRT::Motion* const*, double> > >, ompl::NearestNeighborsGNAT<ompl::geometric::TRRT::Motion*>::DataDistCompare>&, std::priority_queue<std::pair<ompl::NearestNeighborsGNAT<ompl::geometric::TRRT::Motion*>::Node*, double>, std::vector<std::pair<ompl::NearestNeighborsGNAT<ompl::geometric::TRRT::Motion*>::Node*, double>, std::allocator<std::pair<ompl::NearestNeighborsGNAT<ompl::geometric::TRRT::Motion*>::Node*, double> > >, ompl::NearestNeighborsGNAT<ompl::geometric::TRRT::Motion*>::NodeDistCompare>&, bool&) const () from /home/isucan/repos/ompl/build/lib/libompl.so.6
#1  0x00007ffff7a96317 in ompl::NearestNeighborsGNAT<ompl::geometric::TRRT::Motion*>::nearestKInternal(ompl::geometric::TRRT::Motion* const&, unsigned long, std::priority_queue<std::pair<ompl::geometric::TRRT::Motion* const*, double>, std::vector<std::pair<ompl::geometric::TRRT::Motion* const*, double>, std::allocator<std::pair<ompl::geometric::TRRT::Motion* const*, double> > >, ompl::NearestNeighborsGNAT<ompl::geometric::TRRT::Motion*>::DataDistCompare>&) const [clone .constprop.735] () from /home/isucan/repos/ompl/build/lib/libompl.so.6
#2  0x00007ffff7a9d958 in ompl::NearestNeighborsGNAT<ompl::geometric::TRRT::Motion*>::nearestK(ompl::geometric::TRRT::Motion* const&, unsigned long, std::vector<ompl::geometric::TRRT::Motion*, std::allocator<ompl::geometric::TRRT::Motion*> >&) const ()
   from /home/isucan/repos/ompl/build/lib/libompl.so.6
#3  0x00007ffff7a96967 in ompl::NearestNeighborsGNAT<ompl::geometric::TRRT::Motion*>::nearest(ompl::geometric::TRRT::Motion* const&) const ()

[mamoll]

Original comment by Mark Moll (Bitbucket: mamoll, GitHub: mamoll).

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Is the distance function that TRRT uses always a metric? If not, then GNAT shouldn't be used. BalltreeRRT* used to hang because of this issue.

[mamoll]

Original comment by Ioan Sucan (Bitbucket: isucan, GitHub: isucan).

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Replacing this by #40. The code hanging was due to unlimited wait time for finding a solution, but the algorithm was failing.