pyrobosim.navigation.rrt.RRTPlannerPolygon.__init__

RRTPlannerPolygon.__init__(world, bidirectional=False, rrt_connect=False, rrt_star=False, collision_check_step_dist=0.025, max_connection_dist=0.25, max_nodes_sampled=1000, max_time=5.0, rewire_radius=1.0, compress_path=False)

Creates an instance of an RRT planner.

Parameters:

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

  • bidirectional (bool) – If True, uses bidirectional RRT to grow trees from both start and goal.

  • rrt_connect (bool) – If True, uses RRT-connect to bias tree growth towards goals.

  • rrt_star (bool) – If True, uses RRT* to rewire trees to smooth and shorten paths.

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

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

  • max_nodes_sampled (int) – Maximum nodes sampled before planning stops.

  • max_time (float) – Maximum wall clock time before planning stops.

  • rewire_radius – Radius around a node to rewire the RRT, if using the RRT* algorithm.

  • rewire_radius – float