Class PRMstar

• Defined in File PRMstar.h

Inheritance Relationships

Base Type

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

Class Documentation

class PRMstar : public ompl::geometric::PRM

PRM* planner.

Run PRM 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

L.E. Kavraki, P.Švestka, J.-C. Latombe, and M.H. Overmars, Probabilistic roadmaps for path planning in high-dimensional configuration spaces, IEEE Trans. on Robotics and Automation, vol. 12, pp. 566–580, Aug. 1996. DOI: 10.1109/70.508439 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

Public Functions

PRMstar(const base::SpaceInformationPtr &si)

Constructor.

PRMstar(const base::PlannerData &data)

Constructor.