pyrobosim.navigation.a_star.AStarGrid.__init__

AStarGrid.__init__(grid, heuristic='euclidean', diagonal_motion=True, compress_path=False)

Creates an instance of grid based A* planner.

Parameters:

• 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.