pyrobosim.navigation.a_star.AStarGrid

class pyrobosim.navigation.a_star.AStarGrid(grid, heuristic='euclidean', diagonal_motion=True, compress_path=False)

Occupancy grid based implementation of A*.

Methods

__init__(grid[, heuristic, diagonal_motion, ...])	Creates an instance of grid based A* planner.
distance_between(cell1, cell2)	Computes the distance between 2 cells in the grid.
heuristic_cost_estimate(cell1, cell2)	Compute heuristic cost estimate using selected heuristic.
neighbors(cell)	Get the neighbors of a cell in the grid.
plan(start, goal)	Plans a path from start to goal.