PPL: Modules

PPL API Reference

Overview	Core	Algorithm Abstractions	Utilities	Parallel Methods
Modules	Class Hierarchy	Classes	Functions
Todo List	Bug List	Dead Code

Here is a list of all modules:

[detail level 123]

▼Core
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 ( $\mathcal{C}_{space}$ ) Abstraction
Surface Configuration Types	Configuration Space on surfaces
Reachable Distance/Volume Configuration Types	Reachable Distance/Volumn Space (RD/V-space)
Reachable Distance/Volume Utilities	Reachable Distance/Volumn Space (RD/V-space) Utilities
Weights	Simple paths and edges of the roadmap
Roadmap	The roadmap used by sampling-based planning algorithms
▼Utilities	Utility classes and functions
Reachable Distance/Volume Utilities	Reachable Distance/Volumn Space (RD/V-space) Utilities
Motion Planning Utilities	Utility classes and functions related to Motion Planning
Metric Utilities	Utility classes and functions related to statistics
Input/Output Utilities	Utility classes and functions related to file input and output
Runtime Exceptions	PPL's runtime exceptions
Neighborhood Finder Utilities	External data structures to help neighborhood finding algorithms
Motion Planning Stategy Utilities	External data structures to help neighborhood finding algorithms
▼Algorithm Abstractions
Distance Metrics	Distance Metrics (DM) compute distances between two configurations
▼Validity Checkers	Validity Checkers (VC) determine if a configuration is in $\mathcal{C}_{free}$ or $\mathcal{C}_{obst}$
Collision Detection	Collision Detection (CD) determines if a robot placed at a certain configuration is in collision with workspace obstacles
Samplers	Samplers (S) generate configurations in $\mathcal{C}_{space}$ (usually $\mathcal{C}_{free}$ )
▼Neighborhood Finders	Neighborhood Finders (NF) determine nearest neighbors within a roadmap
Neighborhood Finder Utilities	External data structures to help neighborhood finding algorithms
Local Planners	Local Plannners (LP) validate simple, often deterministic paths, between configurations
Extenders	Extenders (E) step configurations toward a direction until an end condition is met, e.g., a distance $\Delta q$ is reached
Connectors	Connectors (C) generate edges of a roadmap, usually a combination of a neighborhood finder and a local planner
Metrics	Metrics (M) determine a value/property from a roadmap
Map Evaluators	Map Evaluators (ME) determine if a roadmap passes an evaluation test, e.g., can solve an example query
Path Modifiers	Path Modifiers (PM) smooth/modify an input path to produce a new valid path
Region Decomposition	Region framework to split space for divide and conquer methods
▼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
Motion Planning Stategy Utilities	External data structures to help neighborhood finding algorithms
Parallel Methods
Dead Code	Algorithms which are not currently implemented to work in current trunk