pyrobosim.utils.search_graph.SearchGraphPlanner

class pyrobosim.utils.search_graph.SearchGraphPlanner

Graph based implementation of A*.

Methods

__init__()
distance_between(n0, n1)	Compute distance between two nodes.
heuristic_cost_estimate(n0, n1)	Compute heuristic cost estimate using linear distance.
neighbors(n)	Get neighbors of a graph node.
plan(start, goal)	Plan path from start to goal.