pyrobosim.navigation.rrt.RRTPlannerPolygon.extend

RRTPlannerPolygon.extend(n_start, q_target)

Grows the RRT from a specific node towards a sampled pose in the world. The maximum distance to grow the tree is dictated by the max_connection_dist parameter. If the target pose is nearer than this distance, a new node is created at exactly that pose.

Parameters:

• n_start (pyrobosim.utils.search_graph.Node) – Tree node from which to grow the new node.

• q_target (pyrobosim.utils.pose.Pose) – Target pose towards which to grow the new node.

Returns:

A new node grown from the start node towards the target pose.

Return type:

pyrobosim.utils.search_graph.Node