Motion Planning Strategies

Motion Planning Strategies (MPS) loosely, construct a roadmap, but more generally are anything executable by PPL, e.g., solve this problem or smooth this path. More...

Collaboration diagram for Motion Planning Strategies:

Classes
class	AdaptiveRRT< MPTraits >
class	BasicPRM< MPTraits >
class	BasicRRTStrategy< MPTraits >
class	GroupStrategyMethod< MPTraits >
class	MPStrategyMethod< MPTraits >
class	TogglePRMStrategy< MPTraits >

Modules
	Motion Planning Stategy Utilities
	External data structures to help neighborhood finding algorithms.

Detailed Description

Motion Planning Strategies (MPS) loosely, construct a roadmap, but more generally are anything executable by PPL, e.g., solve this problem or smooth this path.

A Motion Planning Strategy (MPS) essentially orchestrates the creation of a roadmap for use to solve motion planning problems. They are the "solvers" or the algorithms used to solve a problem, e.g., PRM or RRT. They are not restricted to solving motion planning problems, but could be as simple as load a previously constructed roadmap and evaluate it, etc. These are "executed" by PPL. The base method can be found in MPStrategyMethod.h.