ompl::geometric::PRMstar Class Reference

PRM* planner. More...

#include <ompl/geometric/planners/prm/PRMstar.h>

Inheritance diagram for ompl::geometric::PRMstar:

List of all members.

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)

Definition at line 67 of file PRMstar.h.


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