pyrobosim.navigation.world_graph.WorldGraphPlannerPolygon

class pyrobosim.navigation.world_graph.WorldGraphPlannerPolygon(world=None, collision_check_step_dist=0.025, max_connection_dist=None, compress_path=False)

Polygon representation based implementation of world graph planner.

Methods

__init__([world, collision_check_step_dist, ...])	Creates an instance of a world graph planner.
connect_neighbors(node)	Connect a node to all nodes within connection distance.
get_graphs()	Returns the graphs generated by the planner if any.
plan(start, goal)	Plans a path from start to goal.
reset()	Initializes the graph from the entity nodes in the world linked to this planner.