Extending the ompl_ros_interface
While looking through the OMPL documentation I found a bunch of interesting features, such as planning in control space and creating custom (problem-specific) state samplers.
Are these features (Is access to these features) already implemented in the ompl_ros_interface and I just didn't find them?
If not, are there plans to integrate them?
FYI, I argue that the above question is a superset of http://answers.ros.org/question/38338/how-to-do-ompl-planners-benchmarking-inside-ros/