Use upstream owen statespace

F

Author: Jaeyoung-Lim

README.md

@@ -62,7 +62,7 @@ docker run --network=host -it -v $(pwd):/root/ros2_ws/src/ethz-asl/terrain-navig
 ## Running an example of the planner
 In order to run the examples, build the `terrain_planner_benchmark` package.
 ```
-colcon build --packages-up-to terrain_planner_benchmark
+colcon build --packages-up-to terrain_planner_benchmark --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo
 ```
 Run a simple planning example:
 ```

terrain_planner/CMakeLists.txt

@@ -44,8 +44,6 @@ pkg_check_modules(ODE REQUIRED ode)
 # Libraries
 add_library(${PROJECT_NAME}
   src/common.cpp
-  src/DubinsAirplane.cpp
-  src/DubinsPath.cpp
   src/terrain_ompl_rrt.cpp
   src/terrain_ompl.cpp
   src/visualization.cpp

terrain_planner/include/terrain_planner/ompl_setup.h

@@ -11,7 +11,6 @@
 #include <ompl/geometric/planners/rrt/RRTstar.h>
 
 #include "ompl/base/SpaceInformation.h"
-#include "terrain_planner/DubinsAirplane.hpp"
 #include "terrain_planner/terrain_ompl.h"
 
 enum PlannerType { RRTSTAR, INFORMED_RRTSTAR, RRTCONNECT, BITSTAR, FMTSTAR };

terrain_planner/include/terrain_planner/terrain_ompl_rrt.h

@@ -47,6 +47,8 @@
 #include "terrain_navigation/path.h"
 #include "terrain_planner/ompl_setup.h"
 
+#include <ompl/base/spaces/OwenStateSpace.h>
+
 class TerrainOmplRrt {
  public:
   TerrainOmplRrt();
@@ -71,7 +73,7 @@ class TerrainOmplRrt {
   void setupProblem(const Eigen::Vector3d& start_pos, const Eigen::Vector3d& goal) {
     this->setupProblem(
         start_pos, goal,
-        problem_setup_->getStateSpace()->as<fw_planning::spaces::DubinsAirplaneStateSpace>()->getMinTurningRadius());
+        problem_setup_->getStateSpace()->as<ompl::spaces::OwenStateSpace>()->getMinTurningRadius());
   };
 
   /**

terrain_planner_benchmark/README.md

@@ -7,7 +7,7 @@ See [74](https://github.com/ethz-asl/terrain-navigation/issues/74) for details.
 
 Build this repository, and your terrain source.
 ```
-colcon build --packages-up-to terrain_planner_benchmark terrain_models
+colcon build --packages-up-to terrain_planner_benchmark terrain_models --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo
 ```
 
 ## Terrain Planner Benchmark Node