pyrobosim.navigation.a_star.AStarPlanner

class pyrobosim.navigation.a_star.AStarPlanner(*, world, grid_resolution, grid_inflation_radius, heuristic='euclidean', diagonal_motion=True, compress_path=False)

Occupancy grid based implementation of the A* path planning algorithm.

Methods

__init__(*, world, grid_resolution, ...[, ...])	Creates an instance of grid based A* planner.
distance_between(cell1, cell2)	Computes the distance between 2 cells in the grid.
get_graphs()	Returns the graphs generated by the planner, if any.
get_latest_path()	Returns the latest path generated by the planner, if any.
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.
reset()	Resets the occupancy grid.
to_dict()	Serializes the planner to a dictionary.