LEMUR Planner

The or_lemur::LEMUR planner has the name "LEMUR", and can be called like any other OpenRAVE planner. For example:

params = openravepy.Planner.PlannerParameters()
params.SetRobotActiveJoints(robot)
params.SetGoalConfig(q_goal)
params.SetExtraParameters(
   '<roadmap_type>Halton</roadmap_type>'
   + '<roadmap_param>num=1000</roadmap_param>'
   + '<roadmap_param>radius=2.0</roadmap_param>')

planner = openravepy.RaveCreatePlanner(env, 'LEMUR')
planner.InitPlan(robot, params)

traj = openravepy.RaveCreateTrajectory(env, '')
result = planner.PlanPath(traj)

Roadmap Parameters

or_lemur::LEMUR supports the roadmap types defined in the ompl_lemur package. One of the following strings can be passed in the <roadmap_type> parameter:

• AAGrid: ompl_lemur::RoadmapAAGrid
• FromFile: ompl_lemur::RoadmapFromFile
• Halton: ompl_lemur::RoadmapHalton
• HaltonDens: ompl_lemur::RoadmapHaltonDens
• HaltonOffDens: ompl_lemur::RoadmapHaltonOffDens
• RGG: ompl_lemur::RoadmapRGG
• RGGDens: ompl_lemur::RoadmapRGGDens
• RGGDensConst: ompl_lemur::RoadmapRGGDensConst

In addition, the following cached variants are provided through the or_lemur::RoadmapCached class:

• CachedAAGrid
• CachedHalton
• CachedHaltonDens
• CachedHaltonOffDens
• CachedRGG
• CachedRGGDens
• CachedRGGDensConst

Each of these roadmap types require a number of parameters, which are provided by the <roadmap_param> parameter. A list of the required parameters is provided on ompl_lemur's Roadmaps page.

Parameters for ompl_lemur::LEMUR

Many parameters are passed directly to the ompl_lemur::LEMUR instance that is created on each call to or_lemur::LEMUR::InitPlan(). These parameters are documented on ompl_lemur's LEMUR Planner page.

• <coeff_distance> (float)
• <coeff_checkcost> (float)
• <coeff_batch> (float)
• <do_timing> (bool, "true" or "false")
• <persist_roots> (bool, "true" or "false")
• <num_batches_init> - int
• <max_batches> - int
• <search_type> (string)
• <eval_type> (string)

Additional Parameters

• <do_roadmap_save> (bool, "true" or "false")
• <alglog> (string)
• <do_alglog_append> (bool, "true" or "false")
• <graph> (string)
• <time_limit> (float)