pyrobosim.navigation.a_star.AStarGrid
- class pyrobosim.navigation.a_star.AStarGrid(grid, heuristic='euclidean', diagonal_motion=True, compress_path=False)
Occupancy grid based implementation of A*.
Methods
__init__
(grid[, heuristic, diagonal_motion, ...])Creates an instance of grid based A* planner.
distance_between
(cell1, cell2)Computes the distance between 2 cells in the grid.
heuristic_cost_estimate
(cell1, cell2)Compute heuristic cost estimate using selected heuristic.
neighbors
(cell)Get the neighbors of a cell in the grid.
plan
(start, goal)Plans a path from start to goal.