pyrobosim.navigation.prm.PRMPlannerPolygon.__init__

PRMPlannerPolygon.__init__(compress_path=False, collision_check_step_dist=0.025, max_connection_dist=2.0, max_nodes=50, world=None)

Creates an instance of a PRM planner.

Parameters:

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

  • collision_check_step_dist (float) – Step size for discretizing collision checking.

  • max_connection_dist (float) – Maximum connection distance between nodes.

  • max_nodes (int) – Maximum nodes sampled to build the PRM.

  • world (pyrobosim.core.world.World) – World object to use in the planner.