pyrobosim.navigation.world_graph.WorldGraphPlannerPolygon
- class pyrobosim.navigation.world_graph.WorldGraphPlannerPolygon(world=None, collision_check_step_dist=0.025, max_connection_dist=None, compress_path=False)
Polygon representation based implementation of world graph planner.
Methods
__init__
([world, collision_check_step_dist, ...])Creates an instance of a world graph planner.
connect_neighbors
(node)Connect a node to all nodes within connection distance.
Returns the graphs generated by the planner if any.
plan
(start, goal)Plans a path from start to goal.
reset
()Initializes the graph from the entity nodes in the world linked to this planner.