Branch and bound heuristic for tree-based motion planners. More...
#include <smp/planner_utils/vertex_edge.h>#include <smp/planners/base.h>Go to the source code of this file.
Classes | |
| class | smp::branch_and_bound_base< typeparams > |
| Branch and bound base class. More... | |
Namespaces | |
| namespace | smp |
Sampling-based Motion Planning (SMP) Library. | |
Branch and bound heuristic for tree-based motion planners.
The branch and bound heuristic takes a sampling-based motion planner, an upper bound on the cost of an optimal trajectory, and a function that can compute a lower bound on the cost-to-go (i.e., an admissible heuristic). The branch and bound module, then examines each vertex in tree maintained by the planning algorithm and prunes all nodes that can not possibly generate a trajectory with cost better than that of the current best trajectory in the tree.