Local Plannners (LP) validate simple, often deterministic paths, between configurations. More...

Collaboration diagram for Local Planners:

Classes
struct	GroupLPOutput< MPTraits >

class	LocalPlannerMethod< MPTraits >

struct	LPOutput< MPTraits >

class	StraightLine< MPTraits >

Detailed Description

Local Plannners (LP) validate simple, often deterministic paths, between configurations.

A Local Planner (LP) is basically a validity checker for simple paths between two configurations. These planners are typically efficient, deterministic, and incomplete. They are often used to validate edges of our roadmaps. Paths are defined as polygonal chains $P = \{q_1, q_2, \ldots q_n\}$ through $\mathcal{C}_{space}$ . The base method can be found in LocalPlannerMethod.h.

Classes

Detailed Description