Roadmaps

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`

.

Generated on Sat Sep 3 2016 01:25:39 for ompl_lemur by 1.8.6 using