simple_Xu.tens File Reference

Detailed Description

Simple tensegrity example used in the paper:

  • Collision-Free Path Planning of Tensegrity Structures by Xian Xu, Fengxian Sun, Yaozhi Luo, and Yan Xu in J. Struct. Eng., 2014

This path planning problem with this structure is to connect the following configurations:

This problem can be solved executing:

The solution path can be visualized executing:

The path is typically very long but it can be optimized executing:

  • bin/cuiksmoothpath examples/Tensegrity/simple_Xu examples/Tensegrity/simple_Xu_path random

and the optimized path can be visualized with

To gather statistics about the time take to solve this problem execute

which executes 50 times the planner and prints statistics about the process (average execution time, etc.). In any new computer the execution time should be below 0.05 seconds in average.

Definition in file simple_Xu.tens.