ompl::geometric::PRMstar Class Reference
PRM* planner. More...
#include <ompl/geometric/planners/prm/PRMstar.h>
Inheritance diagram for ompl::geometric::PRMstar:

Public Member Functions | |
PRMstar (const base::SpaceInformationPtr &si) | |
Constructor. |
Detailed Description
PRM* planner.
Run PRM with the "star strategy". Instead of setting the value "k" for how many neighbors to connect, automatically compute it based on the coverage of the space, guaranteeing optimality of solutions.
- Short description
- External documentation
- L.E. Kavraki, P.Švestka, J.-C. Latombe, and M.H. Overmars, Probabilistic roadmaps for path planning in high-dimensional configuration spaces, IEEE Trans. on Robotics and Automation, vol. 12, pp. 566–580, Aug. 1996. DOI: [10.1109/70.508439](http://dx.doi.org/10.1109/70.508439)
S. Karaman and E. Frazzoli, Sampling-based Algorithms for Optimal Motion Planning, International Journal of Robotics Research, vol. 30, no.7, pp. 846-894, 2011. DOI: [10.1177/0278364911406761](http://dx.doi.org/10.1177/0278364911406761)
The documentation for this class was generated from the following files:
- ompl/geometric/planners/prm/PRMstar.h
- ompl/geometric/planners/prm/src/PRMstar.cpp