The ompl_lemur
package includes code for generating roadmaps over OMPL state spaces represented as Boost graph objects.
This package contains classes called "roadmap generators" which generate roadmaps from OMPL state spaces into Boost Graph objects. Here is a quick tour of roadmap types implemented so far:
RoadmapGenAAGrid
Axis aligned grids. One level. Arguments: res=0.16
.
RoadmapGenHalton
Halton sequences with fixed connection radii. One level. Arguments: n=30 radius=0.3
.
RoadmapGenHaltonDens
Densified, batched Halton sequences with connection radii reduced at each batch according to dispersion estimate. Infinite levels. Arguments: n_perbatch=30 radius_firstbatch=0.3
. Shown here up to three subgraphs.
RoadmapGenRGG
Random geometric graphs. One level. Arguments: n=30 radius=0.3 seed=1
.