Hello I am using OMPL (https://bitbucket.org/ompl/ompl/src/default/) for path planning in 3D. OMPL is giving me paths after checking with available collision map (Octomap) but sometimes initial start state is invalid due to its proximity with collision map.

Is there any OMPL feature which can return nearest valid start state (maybe within a provided distance) and plan path with that instead of provided start state?