def __init__(self, space, type=None, **options):
"""Initializes a plan with a given CSpace and a given type.
Optionally, planner options can be set via keyword arguments.
Valid values for type are:
* 'prm': the Probabilistic Roadmap algorithm
* 'rrt': the Rapidly Exploring Random Trees algorithm
* 'sbl': the Single-Query Bidirectional Lazy planner
* 'sblprt': the probabilistic roadmap of trees (PRT) algorithm with SBL as the inter-root planner.
* 'rrt*': the RRT* algorithm for optimal motion planning
* 'prm*': the PRM* algorithm for optimal motion planning
* 'lazyprm*': the Lazy-PRM* algorithm for optimal motion planning
* 'lazyrrg*': the Lazy-RRG* algorithm for optimal motion planning
* 'fmm': the fast marching method algorithm for resolution-complete optimal motion planning
* 'fmm*': an anytime fast marching method algorithm for optimal motion planning
(this list may be out-of-date; the most current documentation
is listed in src/motionplanning.h)
"""
if space.cspace is None:
space.setup()
if type != None:
motionplanning.setPlanType(type)
if len(options) > 0:
MotionPlan.setOptions(**options)
self.space = space
self.planOptions = motionplanning.getPlanJSONString()
self.planner = motionplanning.PlannerInterface(space.cspace)
self.edgeCost = None
self.terminalCost = None
def __init__(self, space, type=None):
"""Initializes a plan with a given CSpace and a given type.
Valid values for type are:
- prm: the Probabilistic Roadmap algorithm
- rrt: the Rapidly Exploring Random Trees algorithm
- sbl: the Single-Query Bidirectional Lazy planner
- sblprt: the probabilistic roadmap of trees (PRT) algorithm with SBL as the inter-root planner.
- rrt*: the RRT* algorithm for optimal motion planning
- prm*: the PRM* algorithm for optimal motion planning
- lazyprm*: the Lazy-PRM* algorithm for optimal motion planning
- lazyrrg*: the Lazy-RRG* algorithm for optimal motion planning
- fmm: the fast marching method algorithm for resolution-complete optimal motion planning
- fmm*: an anytime fast marching method algorithm for optimal motion planning
(this list may be out-of-date; the most current documentation
is listed in motionplanning.h)
"""
if space.cspace == None:
space.setup()
if type != None:
motionplanning.setPlanType(type)
self.planner = motionplanning.PlannerInterface(space.cspace)