pyrobosim.navigation.rrt.RRTPlannerPolygon
- class pyrobosim.navigation.rrt.RRTPlannerPolygon(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)
Polygon representation based implementation of RRT.
Methods
__init__
(world[, bidirectional, ...])Creates an instance of an RRT planner.
extend
(n_start, q_target)Grows the RRT from a specific node towards a sampled pose in the world.
Returns the graphs generated by the planner, if any.
plan
(start, goal)Plans a path from start to goal.
reset
()Resets the search trees and planning metrics.
rewire_node
(graph, n_tgt)Rewires a node in the RRT by checking if switching the parent node to another nearby node will reduce its total cost from the root node.
Samples a random configuration from the world.
try_connect_until
(graph, n_curr, n_tgt)Try to connect a node
n_curr
to a target noden_tgt
.