<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml; charset=UTF-8"/>
<title>OMPL: Gallery</title>
<meta name="author" content="Ioan A. Șucan, Mark Moll, Lydia E. Kavraki">
<link rel="stylesheet" href="../css/screen.css" type="text/css" media="screen, projection">
<link rel="stylesheet" href="../css/print.css" type="text/css" media="print">
<!--[if lt IE 7]>
<script type="text/javascript" src="../js/jquery/jquery.js"></script>
<script type="text/javascript" src="../js/jquery/jquery.dropdown.js"></script>
<![endif]-->
<script type="text/javaScript" src="search/search.js"></script>
<script type="text/javascript">
var _gaq = _gaq || [];
_gaq.push(['_setAccount', 'UA-9156598-2']);
_gaq.push(['_trackPageview']);
(function() {
var ga = document.createElement('script'); ga.type = 'text/javascript'; ga.async = true;
ga.src = ('https:' == document.location.protocol ? 'https://ssl' : 'http://www') + '.google-analytics.com/ga.js';
var s = document.getElementsByTagName('script')[0]; s.parentNode.insertBefore(ga, s);
})();
</script>
</head>
<body onload='searchBox.OnSelectItem(0);'>
<script type="text/javascript"><!--
var searchBox = new SearchBox("searchBox", "search",false,'Search API');
--></script>
<div class="navigation" id="top">
<div class="tabs" id="ompltitle">
<ul class="tablist">
<li>The Open Motion Planning Library</li>
<li id="searchli">
<div id="MSearchBox" class="MSearchBoxInactive">
<span class="left">
<img id="MSearchSelect" src="search/mag_sel.png"
onmouseover="return searchBox.OnSearchSelectShow()"
onmouseout="return searchBox.OnSearchSelectHide()"
alt=""/>
<input type="text" id="MSearchField" value="Search API" accesskey="S"
onfocus="searchBox.OnSearchFieldFocus(true)"
onblur="searchBox.OnSearchFieldFocus(false)"
onkeyup="searchBox.OnSearchFieldChange(event)"/>
</span><span class="right">
<a id="MSearchClose" href="javascript:searchBox.CloseResultsWindow()"><img id="MSearchCloseImg" border="0" src="search/close.png" alt=""/></a>
</span>
</div>
</li>
</ul>
</div>
<ul id="nav" class="dropdown">
<li class="first"><a href="index.html">Home</a></li>
<li><a href="download.html">Download</a></li>
<li><a href="documentation.html">Documentation</a></li>
<li><span class="dir">Code API</span>
<ul>
<li><a href="api_overview.html">API Overview</a></li>
<li><a href="namespaces.html">Namespaces</a></li>
<li><a href="annotated.html">Classes</a></li>
<li><a href="files.html">Files</a></li>
<li><a href="dirs.html">Directories</a></li>
</ul>
</li>
<li><span class="dir">Community</span>
<ul>
<li><a href="developers.html">Developers</a></li>
<li><a href="thirdparty.html">Contributions</a></li>
<li><a href="education.html">Education</a></li>
<li><a href="gallery.html">Gallery</a></li>
</ul>
</li>
<li><span class="dir">About</span>
<ul>
<li><a href="license.html">License</a></li>
<li><a href="citations.html">Citations</a></li>
<li><a href="acknowledgements.html">Acknowledgments</a></li>
<li><a href="contact.html">Contact Us</a></li>
</ul>
</li>
</ul>
</div>
<!--- window showing the filter options -->
<div id="MSearchSelectWindow"
onmouseover="return searchBox.OnSearchSelectShow()"
onmouseout="return searchBox.OnSearchSelectHide()"
onkeydown="return searchBox.OnSearchSelectKey(event)">
<a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(0)"><span class="SelectionMark"> </span>All</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(1)"><span class="SelectionMark"> </span>Classes</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(2)"><span class="SelectionMark"> </span>Namespaces</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(3)"><span class="SelectionMark"> </span>Functions</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(4)"><span class="SelectionMark"> </span>Variables</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(5)"><span class="SelectionMark"> </span>Typedefs</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(6)"><span class="SelectionMark"> </span>Enumerations</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(7)"><span class="SelectionMark"> </span>Enumerator</a></div>
<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<iframe src="" frameborder="0"name="MSearchResults" id="MSearchResults"></iframe>
</div>
<div class="container">
<div class="span-22 push-2 first last">
<div>
<!-- Generated by Doxygen 1.7.4 -->
<script type="text/javascript"><!--
var searchBox = new SearchBox("searchBox", "search",false,'Search');
--></script>
</div>
<div class="header">
<div class="headertitle">
<div class="title">Gallery </div> </div>
</div>
<div class="contents">
<div class="textblock"><h2><a class="anchor" id="gallery_pr2manipulation"></a>
Manipulation Planning</h2>
<p>An example of using OMPL on the PR2 from <a href="http://www.willowgarage.com/">Willow Garage</a>. The robot is asked to move the glass on the left to a position 50cm towards the right, avoiding collisions and without spilling the content of the glass. This demo is using the <a href="http://www.ros.org/wiki/ompl">OMPL ROS package</a>.
<object width="640" height="390"><param name="movie" value="http://www.youtube.com/v/3jdTyKuIkrs&hl=en_US&feature=player_embedded&version=3"></param><param name="allowFullScreen" value="true"></param><param name="allowScriptAccess" value="always"></param><embed src="http://www.youtube.com/v/3jdTyKuIkrs&hl=en_US&feature=player_embedded&version=3" type="application/x-shockwave-flash" allowfullscreen="true" allowScriptAccess="always" width="640" height="390"></embed></object>
<h2><a class="anchor" id="gallery_ode"></a>
Planning for a Car-Like Vehicle Using ODE</h2>
<p>An example of using OMPL to plan for a robotic system simulated with <a href="http://sourceforge.net/projects/opende/">ODE</a>. The goal is for the yellow car to reach the location of the green box without hitting the red box. The computation is performed using <a class="el" href="classompl_1_1control_1_1KPIECE1.html#cKPIECE1">KPIECE</a>. For each computed motion plan, a representation of the exploration data structure (a tree of motions) is also shown.</p>
<object width="480" height="385"><param name="movie" value="http://www.youtube.com/v/bX23YA-pasg?fs=1&hl=en_US"></param><param name="allowFullScreen" value="true"></param><param name="allowscriptaccess" value="always"></param><embed src="http://www.youtube.com/v/bX23YA-pasg?fs=1&hl=en_US" type="application/x-shockwave-flash" allowscriptaccess="always" allowfullscreen="true" width="480" height="385"></embed></object>
<h2><a class="anchor" id="gallery_omplapp"></a>
Planning for Rigid Bodies Using OMPL.app</h2>
<p>Below are some rigid body motion planning problems and corresponding solutions found by OMPL.app.
<hr class="space">
<b>The “cubicles” environment.</b> An L-shaped robot has to fly through a number of rooms and the “basement” to reach the goal state:<br/>
<div class="span-8 push-1">
<img src="../images/cubicles-problem.png" width="100%">
</div>
<div class="span-8 push-2 last">
<img src="../images/cubicles-solution.png" width="100%">
</div>
<hr class="space">
<p><b>The “Twistycool” environment.</b> A twisted shape has to make a complex maneuver to move through a narrow passage:<br/>
<div class="span-8 push-1">
<img src="../images/narrow-passage-problem.png" width="100%">
</div>
<div class="span-8 push-2 last">
<img src="../images/narrow-passage-solution.png" width="100%">
</div>
<hr class="space">
<h2><a class="anchor" id="gallery_comp450"></a>
Class Project from COMP 450 on Path Optimization</h2>
<p>In Fall 2010 OMPL was used for the first time in Lydia Kavraki's Algorithmic Robotics class. Students completed several projects. For their last project they could choose from several options. Linda Hill and Yu Yun worked on path optimization. The different optimization criteria considered they considered were path length and sum of discrete path curvature sum. Minimizing the former in shorter paths, minimizing the second results in smoother paths. They used two optimization techniques specific to paths / curves: B-spline interpolation and path hybridization. Path smoothing using B-spline interpolation is shown below on the left. In path hybridization a set of (approximate) solutions to a motion planning problem is given as input, cross-over points are computed, and a new optimized path composed of path segments is found. An example of path hybridization to minimize path length is shown below on the right. In both cases the paths were in SE(3); the figures show simply the R<sup>3</sup> component.
<div class="span-11">
<img src="../images/bspline_cubicle_smoother.png" width="100%"><br>
<b>Path smoothing with B-splines.</b> The input path is shown in red, the optimized output path is shown in blue.
</div>
<div class="span-11 last">
<img src="../images/hybridization_cubicle_shorter.png" width="100%"><br>
<b>Path shortening using path hybridization.</b> The colored paths are input, the solid black path is the optimized output path.
</div>
<hr class="space">
</div></div>
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
onmouseover="return searchBox.OnSearchSelectShow()"
onmouseout="return searchBox.OnSearchSelectHide()"
onkeydown="return searchBox.OnSearchSelectKey(event)">
<a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(0)"><span class="SelectionMark"> </span>All</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(1)"><span class="SelectionMark"> </span>Classes</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(2)"><span class="SelectionMark"> </span>Namespaces</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(3)"><span class="SelectionMark"> </span>Functions</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(4)"><span class="SelectionMark"> </span>Variables</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(5)"><span class="SelectionMark"> </span>Typedefs</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(6)"><span class="SelectionMark"> </span>Enumerations</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(7)"><span class="SelectionMark"> </span>Enumerator</a></div>
<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<iframe src="javascript:void(0)" frameborder="0"
name="MSearchResults" id="MSearchResults">
</iframe>
</div>
</div>
<div class="footer span-22 push-2 last">
<a href="http://www.kavrakilab.org">Physical and Biological Computing Group</a> •
<a href="http://www.cs.rice.edu">Department of Computer Science</a> •
<a href="http://www.rice.edu">Rice University</a><br>
<div class="gray">Generated on Sun Oct 9 2011 23:04:41 by <a href="http://www.doxygen.org/index.html">doxygen</a> 1.7.4</div>
</div>
</div>
</body>
</html>
distrib
>
Fedora
>
14
>
x86_64
>
media
>
updates
>
by-pkgid
>
e7618febbb9cbed15bb79e326774c050
>
files
>
1298
