pyrobosim.navigation.prm.PRMPlanner

class pyrobosim.navigation.prm.PRMPlanner(*, world, compress_path=False, collision_check_step_dist=0.025, max_connection_dist=2.0, max_nodes=50)

Implements a Probabilistic Roadmap (PRM) path planner.

Methods

__init__(*, world[, compress_path, ...])	Creates an instance of a PRM planner.
connect_neighbors(node)	Connect a node to all nodes within connection distance.
get_graphs()	Returns the graphs generated by the planner, if any.
get_latest_path()	Returns the latest path generated by the planner, if any.
plan(start, goal)	Plans a path from start to goal.
reset()	Resamples the PRM and resets planning metrics.
sample_configuration()	Samples a random configuration from the world.
to_dict()	Serializes the planner to a dictionary.