pyrobosim.navigation.a_star.AStarPlanner.__init__

AStarPlanner.__init__(*, grid_resolution: float, grid_inflation_radius: float, heuristic: str = 'euclidean', diagonal_motion: bool = True, compress_path: bool = False) → None

Creates an instance of grid based A* planner.

Parameters:

• grid_resolution – The resolution of the occupancy grid, in meters.

• grid_inflation_radius – The inflation radius of the occupancy grid, in meters.

• heuristic – The metric to be used as heuristic (‘manhattan’, ‘euclidean’, ‘none’).

• diagonal_motion – If true, expand nodes using diagonal motion.

• compress_path – If true, waypoint reduction will be applied to generated path, else full path is returned.