Concepts

OxMPL follows the modular design principles of OMPL. Understanding these core concepts is key to using the library effectively.

State Space (StateSpace)

The StateSpace defines the configuration space of the robot. Common spaces include:

• RealVectorStateSpace: For $R^n$ spaces (e.g., 2D or 3D positions).
• SE2StateSpace / SE3StateSpace: For rigid bodies in 2D or 3D.
• SO2StateSpace / SO3StateSpace: For rotations.

State (State)

A State represents a single point in the StateSpace. In Rust, these are often specific types like RealVectorState.

State Validity Checker (StateValidityChecker)

This is a user-defined component that determines if a given State is “valid” (e.g., collision-free, within joint limits).

Goal (Goal)

A Goal defines the termination criteria for the planner. It can be a simple state, a region, or a complex condition.

Problem Definition (ProblemDefinition)

This brings together the StateSpace, the start state(s), and the Goal. It defines what problem the planner is trying to solve.

Planner (Planner)

The algorithm used to find a path from the start to the goal. Examples include RRT, RRT*, PRM, and RRTConnect.