def __init__(self, controlSpace, objective, metric, edgeChecker, **params):
"""Given a ControlSpace controlSpace, a metric, and an edge checker"""
TreePlanner.__init__(self)
self.controlSpace = controlSpace
if not isinstance(controlSpace, ControlSpace):
print "Warning, controlSpace is not a ControlSpace"
if not isinstance(edgeChecker, EdgeChecker):
print "Warning, edgeChecker is not an EdgeChecker"
self.cspace = controlSpace.configurationSpace()
self.metric = metric
self.objective = objective
self.edgeChecker = edgeChecker
self.controlSelector = RandomControlSelector(controlSpace, self.metric,
1)
self.goal = None
self.goalSampler = None
self.pChooseGoal = popdefault(params, 'pChooseGoal', 0.1)
self.goalNodes = []
self.selectionRadius = popdefault(params, 'selectionRadius', 0.1)
self.witnessRadius = popdefault(params, 'witnessRadius', 0.03)
self.witnessSet = []
self.configurationSampler = Sampler(
self.controlSpace.configurationSpace())
nnmethod = popdefault(params, 'nearestNeighborMethod', 'kdtree')
self.nearestNeighbors = NearestNeighbors(self.metric, nnmethod)
self.nearestWitness = NearestNeighbors(self.metric, nnmethod)
self.stats = Profiler()
self.numIters = self.stats.count('numIters')
self.bestPathCost = infty
self.bestPath = None
if len(params) != 0:
print "Warning, unused params", params
def __init__(self,controlSpace,objective,metric,edgeChecker,
selectionRadius,witnessRadius,numIters,shrinkage,
**params):
self.ssrrt = StableSparseRRT(controlSpace,objective,metric,
edgeChecker,selectionRadius=selectionRadius,witnessRadius=witnessRadius,**params)
self.selectionRadius0 = selectionRadius
self.witnessRadius0 = witnessRadius
self.numIters0 = numIters
self.shrinkage = shrinkage
self.itersleft = numIters
self.restartCount = 0
self.stats = Profiler()
self.stats.items['ssrrt'] = self.ssrrt.stats
self.numIters = self.stats.count('numIters')
self.stats.count('restartCount')
self.bestPath = None
self.bestPathCost = infty
def __init__(self, controlSpace, objective, metric, edgeChecker, **params):
self.selectionRadius0 = popdefault(params, 'selectionRadius', 0.2)
self.witnessRadius0 = popdefault(params, 'witnessRadius', 0.2)
self.numIters0 = popdefault(params, 'numSSTIters', 300)
self.shrinkage = popdefault(params, 'shrinkage', 0.8)
self.ssrrt = StableSparseRRT(controlSpace,
objective,
metric,
edgeChecker,
selectionRadius=self.selectionRadius0,
witnessRadius=self.witnessRadius0,
**params)
self.itersleft = self.numIters0
self.stats = Profiler()
self.stats.items['ssrrt'] = self.ssrrt.stats
self.numIters = self.stats.count('numIters')
self.restartCount = self.stats.count('restartCount')
self.bestPath = None
self.bestPathCost = infty
if len(params) != 0:
print "Warning, unused params", params
