Class LazyPRMstar

• Defined in File LazyPRMstar.h

Inheritance Relationships

Base Type

• public ompl::geometric::LazyPRM (Class LazyPRM)

Class Documentation

class LazyPRMstar : public ompl::geometric::LazyPRM

PRM* planner.

Run LazyPRM with the “star strategy”. Instead of setting the value “k” for how many neighbors to connect, automatically compute it based on the coverage of the space, guaranteeing optimality of solutions.

Short description

External documentation

R. Bohlin and L.E. Kavraki Path Planning Using Lazy PRM IEEE International Conference on Robotics and Automation, San Francisco, pp. 521–528, 2000. DOI: 10.1109/ROBOT.2000.844107 S. Karaman and E. Frazzoli, Sampling-based Algorithms for Optimal Motion Planning, International Journal of Robotics Research, vol. 30, no.7, pp. 846-894, 2011. DOI: 10.1177/0278364911406761[more]

Public Functions

LazyPRMstar(const base::SpaceInformationPtr &si)

Constructor.

LazyPRMstar(const base::PlannerData &data)

Constructor.