ompl::geometric::LazyPRMstar Class Reference

PRM* planner. More...

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

Inheritance diagram for ompl::geometric::LazyPRMstar:

List of all members.

Public Member Functions

 LazyPRMstar (const base::SpaceInformationPtr &si)
 Constructor.

Detailed Description

PRM* planner.

Run LazyPRM 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
R. Bohlin and L.E. Kavraki Path Planning Using Lazy PRM IEEE International Conference on Robotics and Automation, San Francisco, pp. 521–528, 2000. DOI: [10.1109/ROBOT.2000.844107](http://dx.doi.org/10.1109/ROBOT.2000.844107)
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)
[[more]](http://www.kavrakilab.org/robotics/lazyprm.html)

Definition at line 68 of file LazyPRMstar.h.


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