utnuclearroboticspublic / ap_planning Goto Github PK

The planning request struct passes a planning time, but not a planner type (e.g. RRT, PRM, etc)

We should pass this (right now you have to set manually in .cpp and compile to change it).

Should be fairly straightforward, convenient for further testing, and make it match what we say in the paper.

I would make an enum in the header where the request struct is located, add the planners we tested with (RRT, RRTconnect, PRM, PRMstar), then add one of those enums to the request. Make the default PRM. In the screw planner file, we need to check this before we set the create the planner