Purpose

• See if there is a significant performance hit when implementing custom planners in Python
• If so, devise flow to develop and compile C++ planners

Description

• Add Python planners to planners/ directory
  • Also add empty __init__.py file
• Add planner to https://github.com/UBCSailbot/local_pathfinding/blob/576848b0d686902d3374510a192762426bd61cb6/local_pathfinding/ompl_path.py#L85-L87
  • Can also create function/arg to select planner
• Need to set OMPL log level to lower level (e.g., LOG_INFO) in order order for it to print to terminal

Resources

• Initialize simple setup object: https://github.com/UBCSailbot/raye-local-pathfinding/blob/master/python/updated_geometric_planner.py#L164
• OMPL API: https://ompl.kavrakilab.org/api_overview.html