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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

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