pyrobosim.navigation.world_graph.WorldGraphPlanner

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

Implementation of a path planner which creates a visibility-based roadmap using the polygons in the world.

Methods

__init__(*, world[, ...])	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.
get_latest_path()	Returns the latest path 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.
to_dict()	Serializes the planner to a dictionary.