How are single/multiple robot(s) motion-planning problems setup via XML specifications?
Motion planning methods in OOPSMP are designed to work seamlessly for problem instances that involve just one robot or many robots of possibly different types. This is achieved by providing functionality for centralized motion planning that allows motion planning methods to treat many robots as just one single robot. All motion planning methods in OOPSMP use an instance of the class OOPSMP::CoreRobotData, which provides access to common components that are needed by motion planning methods, e.g., workspace, collision detector, state space, state sampler, path generator, local planner. When dealing with multiple robots, it is desirable to provide access to the state space, state sampler, path generator, and local planner of each individual robot, but also to provide access to a centralized state space, state sampler, path generator, and local planner. This is achieved by using an instance of the class OOPSMP::CoreRobotsData. The class OOPSMP::CoreRobotsData not only extends the class OO
