Class LightningPtr

• Defined in File Lightning.h

Class Documentation

class LightningPtr

A shared pointer wrapper for ompl::tools::Lightning.

Short description

The Lightning Framework is a experienced-based motion planner that recalls from a database of previously generated paths the most similar one to the current planning problem and attempts to repair it, while at the same time planning from scratch in a different thread

External documentation

Berenson, Dmitry, Pieter Abbeel, and Ken Goldberg: A robot path planning framework that learns from experience, in Robotics and Automation (ICRA), 2012 IEEE International Conference on. IEEE, 2012. DOI: 10.1109/ICRA.2012.6224742[PDF]