pyrobosim.navigation.prm.PRMPlannerPolygon.plan
- PRMPlannerPolygon.plan(start, goal)
Plans a path from start to goal.
- Parameters:
start (
pyrobosim.utils.pose.Pose/pyrobosim.utils.search_graph.Node) – Start pose or graph node.goal (
pyrobosim.utils.pose.Pose/pyrobosim.utils.search_graph.Node) – Goal pose or graph node.
- Returns:
Path from start to goal.
- Return type: