Struct PlannerSpecs

Struct Documentation

struct PlannerSpecs

Properties that planners may have.

Public Functions

PlannerSpecs() = default

Public Members

GoalType recognizedGoal = {GOAL_ANY}

The type of goal specification the planner can use.

bool multithreaded = {false}

Flag indicating whether multiple threads are used in the computation of the planner.

bool approximateSolutions = {false}

Flag indicating whether the planner is able to compute approximate solutions.

bool optimizingPaths = {false}

Flag indicating whether the planner attempts to optimize the path and reduce its length until the maximum path length specified by the goal representation is satisfied.

bool directed = {false}

Flag indicating whether the planner is able to account for the fact that the validity of a motion from A to B may not be the same as the validity of a motion from B to A. If this flag is true, the planner will return solutions that do not make this assumption. Usually roadmap-based planners make this assumption and tree-based planners do not.

bool provingSolutionNonExistence = {false}

Flag indicating whether the planner is able to prove that no solution path exists.

bool canReportIntermediateSolutions = {false}

Flag indicating whether the planner is able to report the computation of intermediate paths.