WIP: Add multi-goal planning to LazyPRM/LazyPRM*#995
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mamoll
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May 26, 2023
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Looks good to me, modulo some minor changes.
| for (std::size_t goalIndex = 0; goalIndex < goalM_.size(); ++goalIndex) | ||
| auto startComponent = vertexComponentProperty_[s]; | ||
| std::copy_if(std::begin(goalM_), std::end(goalM_), std::inserter(goals, std::begin(goals)), | ||
| [&](const auto &g) { return vertexComponentProperty_[g] == startComponent; }); |
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The code does more work than necessary, since you can stop as soon as you find a goal state that is in the same component as the start state. You don't have to iterate over all goal states. No need to change, since optimizing this part of the code is probably not worth it.
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Co-authored-by: Mark Moll <[email protected]>
Co-authored-by: Mark Moll <[email protected]>
Co-authored-by: Mark Moll <[email protected]>
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Thanks for the review - just tested locally to double check and the LazyPRM is now throwing an exception in some cases, I'll change this to a WIP and request review when I've kicked the tires a bit more. |
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Fixes #776. Before, LazyPRM would simply use the first sampled goal. This should enable LazyPRM to plan to multiple goals.