pyrobosim.navigation.prm.PRMPlannerPolygon

class pyrobosim.navigation.prm.PRMPlannerPolygon(compress_path=False, collision_check_step_dist=0.025, max_connection_dist=2.0, max_nodes=50, world=None)

Polygon representation based implementation of PRM.

Methods

__init__([compress_path, ...])	Creates an instance of a PRM planner.
connect_neighbors(node)	Connect a node to all nodes within connection distance.
get_graphs()	Returns the graphs generated by the planner, if any.
plan(start, goal)	Plans a path from start to goal.
reset()	Resamples the PRM and resets planning metrics.
sample_configuration()	Samples a random configuration from the world.