pyrobosim.navigation.prm.PRMPlanner.__init__

PRMPlanner.__init__(*, compress_path: bool = False, collision_check_step_dist: float = 0.025, max_connection_dist: float = 2.0, max_nodes: int = 50) → None

Creates an instance of a PRM planner.

Parameters:

• compress_path – If true, tries to shorten the path with polygon-based collision checks.

• collision_check_step_dist – Step size for discretizing collision checking.

• max_connection_dist – Maximum connection distance between nodes.

• max_nodes – Maximum nodes sampled to build the PRM.