kpiece-comparison

Comparison of AVP-RRT with OMPL-KPIECE

kpiece_superbot

KPIECE with a 12-DOF robot

First, from inside kpiece_superbot folder, create new directories and compile C++ files

mkdir -p build/data
cd build
cmake ..
make

Then to run the test, run (inside build directory)

./SuperBotBenchmark_AllDOFs <cellSize>

and replace <cellSize> with the desired value of cell size.

avprrt_superbot

AVP-RRT with a 12-DOF robot

First, from inside avprrt_superbot folder, create a directory to store results

mkdir data

Then to run the test, open ipython and run

run test_varying_dof.py