Todo List

Class ompl::base::GoalLazySamples: The Python bindings for GoalLazySamples class are still broken. The OMPL C++ code creates a new thread from which you should be able to call a python Goal sampling function. Acquiring the right threads and locks and messing around with the Python Global Interpreter Lock (GIL) is very tricky. See ompl/py-bindings/generate_bindings.py for an initial attempt to make this work.

Member ompl::base::InformedSampler::heuristicSolnCost (const State *statePtr) const: With the future invention of a heuristic class, this should move.