Definition of the reachability model checker. More...
#include <smp/components/model_checkers/base.h>#include <smp/common/region.h>Go to the source code of this file.
Classes | |
| class | smp::model_checker_reachability_vertex_data |
| Vertex data for reachability checking. More... | |
| class | smp::model_checker_reachability_edge_data |
| Edge data for reachability checking. More... | |
| class | smp::model_checker_reachability< typeparams, NUM_DIMENSIONS > |
| Reachability model checker. More... | |
Namespaces | |
| namespace | smp |
Sampling-based Motion Planning (SMP) Library. | |
Definition of the reachability model checker.
This file implements the vertex and edge data structures as well as the model checker for the model checker based on reachability. The reachability model checker is designed to work with incremental planners that maintain a necessarily connected graph such that for any vertex in the graph there exists at least one trajectory that starts from the root vertex and reaches this particular vertex. RRT, RRT*, and RRG planners all satsify this criterion.