Core

Collaboration diagram for Core:

Modules
	Motion Planning Universe
	Core access to, storage of, and availability for loading of everything in PPL.
	Environment
	The workspace of the motion planning problem.
	Configuration Types
	Configuration Space ( ) Abstraction.
	Weights
	Simple paths and edges of the roadmap.
	Roadmap
	The roadmap used by sampling-based planning algorithms.
	Utilities
	Utility classes and functions.

Detailed Description

The core components of PPL shared by all its algorithmic abstractions are:

• Motion Planning Universe - MPProblem and MPTraits
• Environment - The workspace of the motion planning problem
• Configuration Types - Configurations and
• Weights - Simple paths and edges of the roadmap
• Roadmap - The roadmap used by sampling-based planning algorithms
• Utilities - Utility classes and functions