pyrobosim.navigation.a_star.AStarPlanner.__init__

AStarPlanner.__init__(*, world, grid_resolution, grid_inflation_radius, heuristic='euclidean', diagonal_motion=True, compress_path=False)

Creates an instance of grid based A* planner.

Parameters:

  • world (pyrobosim.core.world.World) – World object to use in the planner.

  • grid_resolution (float) – The resolution of the occupancy grid, in meters.

  • grid_inflation_radius (float) – The inflation radius of the occupancy grid, in meters.

  • heuristic (string) – The metric to be used as heuristic (‘manhattan’, ‘euclidean’, ‘none’).

  • diagonal_motion (bool) – If true, expand nodes using diagonal motion.

  • compress_path (bool) – If true, waypoint reduction will be applied to generated path, else full path is returned.