pyrobosim.utils.search_graph.SearchGraph

class pyrobosim.utils.search_graph.SearchGraph(color=[0, 0, 0], color_alpha=0.5, use_planner=False)

Graph representation class.

Methods

__init__([color, color_alpha, use_planner])	Creates an instance of SearchGraph.
add_edge(nodeA, nodeB)	Adds an edge between 2 nodes.
add_node(node)	Adds a node to the graph.
find_path(nodeA, nodeB)	Finds a path from nodeA to nodeB.
nearest(pose)	Get the nearest node in the graph to a specified pose.
remove_edge(nodeA, nodeB)	Removes an edge between 2 nodes.
remove_node(node)	Removes a node from the graph.