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Use 1/0 instead of true/false in ompl_planning.yaml #460

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Jul 6, 2022
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Use 1/0 instead of true/false in ompl_planning.yaml #460

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24 changes: 12 additions & 12 deletions doc/examples/ompl_interface/ompl_interface_tutorial.rst
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Expand Up @@ -142,26 +142,26 @@ By default the planning algorithms start from scratch for each motion planning r

PersistentLazyPRMstar: # use this with a representative environment to create a roadmap
type: geometric::LazyPRMstar
multi_query_planning_enabled: true
store_planner_data: true
load_planner_data: false
multi_query_planning_enabled: 1
store_planner_data: 1
load_planner_data: 0
planner_data_path: /tmp/roadmap.graph
PersistentLazyPRM: # use this to load a previously created roadmap
type: geometric::LazyPRM
multi_query_planning_enabled: true
store_planner_data: false
load_planner_data: true
multi_query_planning_enabled: 1
store_planner_data: 0
load_planner_data: 1
planner_data_path: /tmp/roadmap.graph
SemiPersistentLazyPRMstar: # reuses roadmap during lifetime of node but doesn't save/load roadmap to/from disk
type: geometric::LazyPRMstar
multi_query_planning_enabled: true
store_planner_data: false
load_planner_data: false
multi_query_planning_enabled: 1
store_planner_data: 0
load_planner_data: 0
SemiPersistentLazyPRM: # reuses roadmap during lifetime of node but doesn't save/load roadmap to/from disk
type: geometric::LazyPRM
multi_query_planning_enabled: true
store_planner_data: false
load_planner_data: false
multi_query_planning_enabled: 1
store_planner_data: 0
load_planner_data: 0

The first planner configuration, ``PersistentLazyPRMstar``, will use LazyPRM* to keep growing a roadmap of asymptotically optimal paths between sampled robot configurations with each motion planning request. Upon destruction of the planner instance, it will save the roadmap to disk. The ``PersistentLazyPRM`` configuration is similar, except it will *load* a roadmap from disk but not *save* it upon destruction. The ``SemiPersistent`` planner configurations do not load/save roadmaps, but do keep extending a roadmap with each motion planning request (rather than the default behavior of clearing it before planning). The four planners that support the persistent planning features are: PRM, PRM*, LazyPRM, and LazyPRM*. The critical difference between them is that the lazy variants will re-validate the validity of nodes and edges as needed when searching the roadmap for a valid path. The non-lazy variants will not check if the roadmap is still valid for the current environment. In other words, use the non-lazy variants for static environments, the lazy variants for environments with small changes, and a non-persistent planner if the environment can change significantly.

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