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:
const ompl::base::SpaceInformationPtr & si
ompl_lemur::TagCache & tag_cache
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.
In addition to the construction arguments above, LEMUR
takes the following parameters:
roadmap_type
(see LEMUR::registerRoadmapType
)roadmap.<roadmap_param>
: delegated to roadmap instancecoeff_distance
(double)coeff_checkcost
(double)coeff_batch
(double)These parameters specify the weights on the objective function optimized by the planner at each iteration.
search_type
(string)This parameter specifies which algorithm is used for the inner search performed by LazySP
. Currently supported values include:
dijkstras
(rooted at start)astar
(rooted at start)lpastar
(rooted at start)incbi
eval_type
(string)This parameter specifies which edge selector is used to select edges for evaluation at each iteration. Currently supported values include:
fwd
rev
alt
bisect
fwd_eval
partition_all
sp_indicator_probability
do_timing
(bool): Set to true
to have the planner profile and report time spent during search and during edge evaluation.persist_roots
(bool): Set to true
to keep vertices and edges from previous problem definitionsnum_batches_init
(int): number of batches to generate before proceeding with searchmax_batches
(int): planner terminates after search fails over this number of batches generated