Ompl.NetStandard

A port of the Open Motion Planning Library (OMPL) to .NET Standard using SWIG

Original Repo

https://github.com/ompl/ompl

Currently wrapped OMPL version is OMPL 1.6.0.

How to build

> git clone https://github.com/nref/Ompl.NetStandard
> cd Ompl.NetStandard

# Verify and potentially modify Visual Studio configuration
> ./buildtools/Configure-Build.ps1
Build configuration:

Visual Studio path: C:/Program Files/Microsoft Visual Studio/2022/Community/VC/Auxiliary/Build
CMake generator: Visual Studio 17 2022
...
> pwsh make.ps1

Example:

var space = new Base.RealVectorStateSpace(3);
var bounds = new Base.RealVectorBounds(3);
bounds.setLow(0, -3);
bounds.setHigh(0, 3);
bounds.setLow(1, -3);
bounds.setHigh(1, 3);
bounds.setLow(2, -3);
bounds.setHigh(2, 3);

space.setBounds(bounds);
space.sanityChecks();

var ss = new Geometric.SimpleSetup(space);
var pd = ss.getProblemDefinition();
var si = ss.getSpaceInformation();
var planner = new Geometric.KPIECE1(si);
ss.setPlanner(planner);
space.setup();

// TODO
//var start = new Base.ScopedState(space);
//var goal = new Base.ScopedState(space);
//space.copyFromReals(start, ...);
//space.copyFromReals(goal, ...);

//pd.setStartAndGoalStates(start, goal);
var objective = new Base.MultiOptimizationObjective(si);
//var clearanceObjective = new Base.OptimizationObjective(new ClearanceObjective(si));
//objective.addObjective(clearanceObjective);
pd.setOptimizationObjective(objective);
//si.setValidStateSamplerAllocator();
si.allocValidStateSampler();
si.setStateValidityCheckingResolution(0.01);
ss.solve(1);

var solution = ss.getSolutionPath();
var simplifier = ss.getPathSimplifier();

simplifier.reduceVertices(solution);
simplifier.smoothBSpline(solution, 3);