Family Planning

Family Module

The or_lemur::FamilyModule class is an OpenRAVE module which manages a family of sets over the C-space of a robot.

Family Planner

The or_lemur::FamilyPlanner is an OpenRAVE planner which uses a family module instance to generate the relations and indicator functions for each set. In addition to the parameters accepted by the LEMUR Planner, the or_lemur::FamilyPlanner requires the instance ID of the family module that it should use.

Scripts

The or_ompl package includes a script family-self-setcache.py which wraps a or_lemur::FamilyPlanner instance and computes a self-collision checked set cache for a particular roadmap. Here's an example of computing such a set cache for the HERB robot:

$ rosrun or_lemur family-self-setcache.py
   --urdf=package://herb_description/robots/herb.urdf
   --srdf=package://herb_description/robots/herb.srdf --manip=right
   --collision-checker=fcl
   --roadmap-type=HaltonOffDens
   --roadmap-param=num_per_batch=10000
   --roadmap-param=radius_first_batch=2.0
   --roadmap-param=seed=0
   --num-batches=1
   --setcache=setcache-herbright-self-halton00.txt