WIP: Add multi-goal planning to LazyPRM/LazyPRM*

Open zkingston opened this issue 2 years ago • 1 comments

Fixes #776. Before, LazyPRM would simply use the first sampled goal. This should enable LazyPRM to plan to multiple goals.

Feb 20 '23 01:02 zkingston

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.

May 26 '23 17:05 zkingston