The ompl_lemur package includes code for generating roadmaps over OMPL state spaces represented as Boost graph objects.

Roadmaps

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.