Planners
Bench-MR supports several motion-planning algorithms, supporting implementations from OMPL and SBPL out of the box.
A list of planners can be provided to the MPB instance which will run a benchmark replicating all the settings across each selected planner. The user-friendly function is the following that will enable the respective planners in under the benchmark.planning group:
MPB.set_planners(planners: [str])
The planner names are parsed from the list of strings, showing an error if any entry could not be unified with the available planners in Bench-MR. Check the planner_names dictionary in definitions.py for the mapping of planner names to be given to the set_planners function, and their respective printable titles:
| Planner Name | Planner Title |
|---|---|
rrt | RRT |
est | EST |
sbl | SBL |
prm | PRM |
theta_star | Theta* |
sst | SST |
fmt | FMT |
kpiece | KPIECE |
pdst | PDST |
stride | STRIDE |
rrt_star | RRT* |
rrt_sharp | RRT# |
informed_rrt_star | Informed RRT* |
sorrt_star | SORRT* |
prm_star | PRM* |
bfmt | BFMT |
cforest | CForest |
bit_star | BIT* |
spars | SPARS |
spars2 | SPARS2 |
sbpl_adstar | SBPL AD* |
sbpl_anastar | SBPL ANA* |
sbpl_arastar | SBPL ARA* |
sbpl_lazy_ara | SBPL Lazy ARA* |
sbpl_mha | SBPL MHA* |
fpkpiece | FP KPIECE |
fpest | FP EST |
fpsst | FP SST |
fprrt | FP RRT |
fppdst | FP PDST |