[ompl-users] Lazy PRM

[hadar s. <had...@gm...>]

Hello,

I’m using the lazy prm for a single query.

First, lazy prm is initialized with a graph previously generated with prm,
but with a different IsValid function (which considers newly added
obstacles).

Planning with lazy prm planner works great, but sometimes during the run,
one of the vertices chosen to be removed from nearest neighbor (nn) data
structure happens to be a pivot, which leads to rebuilding nn data
structure and substantially increases run time.

Is there a way to avoid rebuilding? As I mentioned, the instance of lazy
prm is used once, only for a single query, and no additional queries are
sent.

Best, Hadar.