M-File Help: PRM | View code for PRM |
Probabilistic roadmap navigation class
A concrete subclass of Navigation that implements the probabilistic roadmap navigation algorithm. This performs goal independent planning of roadmaps, and at the query stage finds paths between specific start and goal points.plan | Compute the roadmap |
path | Compute a path to the goal |
visualize | Display the obstacle map |
display | Print the parameters in human readable form |
char | Convert the parameters to a human readable string |
load map1 prm = PRM(map); prm.plan() prm.path(start, goal)
Navigation, DXform, Dstar, PGraph
Create a PRM navigation object constructor
p =Convert navigation object to string
P.PRM.displayFind a path between two points
P.path from start to goal which is overlaid on the occupancy grid. x = P.Create a probabilistic roadmap
P.e
P.© 1990-2011 Peter Corke.