pyrobosim.navigation.rrt.RRTPlanner

class pyrobosim.navigation.rrt.RRTPlanner(*, world, bidirectional=False, rrt_connect=False, rrt_star=False, collision_check_step_dist=0.025, max_connection_dist=0.25, max_nodes_sampled=1000, max_time=2.0, rewire_radius=1.0, compress_path=False)

Implements a Rapidly-exploring Random Tree (RRT) path planner.

Methods

__init__(*, world[, bidirectional, ...])	Creates an instance of an RRT planner.
extend(n_start, q_target)	Grows the RRT from a specific node towards a sampled pose in the world.
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()	Resets the search trees and planning metrics.
rewire_node(graph, n_tgt)	Rewires a node in the RRT by checking if switching the parent node to another nearby node will reduce its total cost from the root node.
sample_configuration()	Samples a random configuration from the world.
to_dict()	Serializes the planner to a dictionary.
try_connect_until(graph, n_curr, n_tgt)	Try to connect a node n_curr to a target node n_tgt.