def make_greedy_follower(
self,
agent_id: Optional[int] = None,
goal_radius: float = None,
*,
stop_key: Optional[Any] = None,
forward_key: Optional[Any] = None,
left_key: Optional[Any] = None,
right_key: Optional[Any] = None,
fix_thrashing: bool = True,
thrashing_threshold: int = 16,
):
if agent_id is None:
agent_id = self._default_agent_id
return GreedyGeodesicFollower(
self.pathfinder,
self.get_agent(agent_id),
goal_radius,
stop_key=stop_key,
forward_key=forward_key,
left_key=left_key,
right_key=right_key,
fix_thrashing=fix_thrashing,
thrashing_threshold=thrashing_threshold,
)
def make_greedy_follower(self,
agent_id: int = 0,
goal_radius: float = None):
return GreedyGeodesicFollower(
self.pathfinder,
self.get_agent(agent_id),
goal_radius,
stop_key=stop_key,
forward_key=forward_key,
left_key=left_key,
right_key=right_key,
fix_thrashing=fix_thrashing,
thrashing_threshold=thrashing_threshold,
)
def make_greedy_follower(self,
agent_id: int = 0,
goal_radius: float = None):
return GreedyGeodesicFollower(self.pathfinder,
self.get_agent(agent_id), goal_radius)