默认规划路径算法和RRTConnet路径规划算法生成路径
1. 源代码
#include <ompl/base/SpaceInformation.h>
#include <ompl/base/spaces/SE3StateSpace.h>
#include <ompl/geometric/planners/rrt/RRTConnect.h>
#include <ompl/geometric/SimpleSetup.h>
#include <ompl/config.h>
#include <iostream>
#include <fstream>
#include <ostream>
namespace ob = ompl::base;
namespace og = ompl::geometric;
bool isStateValid(const ob::State *state)
{
// cast the abstract state type to the type we expect
const auto *se3state = state->as<ob::SE3StateSpace::StateType>();
// extra