/multithreadedbaseplacement-openrave

Software related to multithreaded base placement

Primary LanguageC++

multithreadedbaseplacement-openrave

Bug fixes after delivery

Tested in :

      Ubuntu 12.04 ( gcc 4.5.3 )
      Boost 1.43.0
      OpenRAVE 0.9 (master) -- shows error with latest_stable

Directly want to play the optimized base pose and trajectory , execute :

          python test.py

Compiling the code :

          git clone https://github.com/crazy-robot/multithreadedbaseplacement-openrave
          cd multithreadedbaseplacement-openrave
          make

To run the optimization :

          ./build/testfunction --scene=scenes/testscene.env.xml --robot=RV-4F --manip=1 --threads=4

Results :

          progress and results are displayed
          trajectory result are stored in traj.xml in the same folder

Code documentation (gh-pages) :

           http://crazy-robot.github.io/multithreadedbaseplacement-openrave/