Issue #33 resolved

TRRT hangs

Ioan Sucan
created an issue

When running the 2dmap geometric test, TRRT often hangs:


Testing TRRT ...

========= Running simple test

Debug: Frontier threshold detected to be 0.212132 Debug: K constant detected to be 0.000000 Info: Starting with 1 states Info: Created 24 states Info: Starting with 1 states Info: Created 134 states Info: Starting with 134 states

Comments (5)

  1. Ioan Sucan reporter

    This actually seems to hang in NearestNeighborsGNAT:

    0x00007ffff7a9cfb7 in ompl::NearestNeighborsGNAT<ompl::geometric::TRRT::Motion*>::Node::nearestK(ompl::NearestNeighborsGNAT<ompl::geometric::TRRT::Motion*> const&, ompl::geometric::TRRT::Motion* const&, unsigned long, std::priority_queue<std::pair<ompl::geometric::TRRT::Motion* const*, double>, std::vector<std::pair<ompl::geometric::TRRT::Motion* const*, double>, std::allocator<std::pair<ompl::geometric::TRRT::Motion* const*, double> > >, ompl::NearestNeighborsGNAT<ompl::geometric::TRRT::Motion*>::DataDistCompare>&, std::priority_queue<std::pair<ompl::NearestNeighborsGNAT<ompl::geometric::TRRT::Motion*>::Node*, double>, std::vector<std::pair<ompl::NearestNeighborsGNAT<ompl::geometric::TRRT::Motion*>::Node*, double>, std::allocator<std::pair<ompl::NearestNeighborsGNAT<ompl::geometric::TRRT::Motion*>::Node*, double> > >, ompl::NearestNeighborsGNAT<ompl::geometric::TRRT::Motion*>::NodeDistCompare>&, bool&) const () from /home/isucan/repos/ompl/build/lib/libompl.so.6
    (gdb) bt
    #0  0x00007ffff7a9cfb7 in ompl::NearestNeighborsGNAT<ompl::geometric::TRRT::Motion*>::Node::nearestK(ompl::NearestNeighborsGNAT<ompl::geometric::TRRT::Motion*> const&, ompl::geometric::TRRT::Motion* const&, unsigned long, std::priority_queue<std::pair<ompl::geometric::TRRT::Motion* const*, double>, std::vector<std::pair<ompl::geometric::TRRT::Motion* const*, double>, std::allocator<std::pair<ompl::geometric::TRRT::Motion* const*, double> > >, ompl::NearestNeighborsGNAT<ompl::geometric::TRRT::Motion*>::DataDistCompare>&, std::priority_queue<std::pair<ompl::NearestNeighborsGNAT<ompl::geometric::TRRT::Motion*>::Node*, double>, std::vector<std::pair<ompl::NearestNeighborsGNAT<ompl::geometric::TRRT::Motion*>::Node*, double>, std::allocator<std::pair<ompl::NearestNeighborsGNAT<ompl::geometric::TRRT::Motion*>::Node*, double> > >, ompl::NearestNeighborsGNAT<ompl::geometric::TRRT::Motion*>::NodeDistCompare>&, bool&) const () from /home/isucan/repos/ompl/build/lib/libompl.so.6
    #1  0x00007ffff7a96317 in ompl::NearestNeighborsGNAT<ompl::geometric::TRRT::Motion*>::nearestKInternal(ompl::geometric::TRRT::Motion* const&, unsigned long, std::priority_queue<std::pair<ompl::geometric::TRRT::Motion* const*, double>, std::vector<std::pair<ompl::geometric::TRRT::Motion* const*, double>, std::allocator<std::pair<ompl::geometric::TRRT::Motion* const*, double> > >, ompl::NearestNeighborsGNAT<ompl::geometric::TRRT::Motion*>::DataDistCompare>&) const [clone .constprop.735] () from /home/isucan/repos/ompl/build/lib/libompl.so.6
    #2  0x00007ffff7a9d958 in ompl::NearestNeighborsGNAT<ompl::geometric::TRRT::Motion*>::nearestK(ompl::geometric::TRRT::Motion* const&, unsigned long, std::vector<ompl::geometric::TRRT::Motion*, std::allocator<ompl::geometric::TRRT::Motion*> >&) const ()
       from /home/isucan/repos/ompl/build/lib/libompl.so.6
    #3  0x00007ffff7a96967 in ompl::NearestNeighborsGNAT<ompl::geometric::TRRT::Motion*>::nearest(ompl::geometric::TRRT::Motion* const&) const ()
    
  2. Mark Moll

    Is the distance function that TRRT uses always a metric? If not, then GNAT shouldn't be used. BalltreeRRT* used to hang because of this issue.

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