LEMUR Packages: ompl_lemur or_lemur pr_bgl prpy_lemur
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LEMUR Planner

Here is top-level documentation for how to use the implementation of LEMUR for OMPL.

The primary planner is ompl_lemur::LEMUR, a derived class of ompl::base::Planner. It takes the following arguments:

The roadmap to be searched is an instance of a roadmap type which subclasses ompl_lemur::Roadmap. Some of the classes implemented are described on the Roadmaps page!

For an overview, see the main page.

Parameters

In addition to the construction arguments above, LEMUR takes the following parameters:

Roadmap

Optimization coefficients

These parameters specify the weights on the objective function optimized by the planner at each iteration.

Search type: search_type (string)

This parameter specifies which algorithm is used for the inner search performed by LazySP. Currently supported values include:

Evaluation selector type: eval_type (string)

This parameter specifies which edge selector is used to select edges for evaluation at each iteration. Currently supported values include:

Other parameters