def allocatePlanner(si, plannerType): if plannerType.lower() == "bfmtstar": return og.BFMT(si) elif plannerType.lower() == "bitstar": return og.BITstar(si) elif plannerType.lower() == "fmtstar": return og.FMT(si) elif plannerType.lower() == "informedrrtstar": return og.InformedRRTstar(si) elif plannerType.lower() == "prmstar": return og.PRMstar(si) elif plannerType.lower() == "rrtstar": return og.RRTstar(si) elif plannerType.lower() == "sorrtstar": return og.SORRTstar(si) elif plannerType.lower() == "rrtxstatic": return og.RRTXstatic(si) elif plannerType.lower() == "rrtsharp": return og.RRTsharp(si) # multi-query elif plannerType.lower() == "lazyprmstar": return og.LazyPRMstar(si) # single-query elif plannerType.lower() == "rrtconnect": return og.RRTConnect(si) elif plannerType.lower() == "lbtrrt": return og.LBTRRT(si) elif plannerType.lower() == "lazylbtrrt": return og.LazyLBTRRT(si) else: ou.OMPL_ERROR( "Planner-type is not implemented in allocation function.")
def allocatePlanner(self,si,plannerType): if plannerType.lower() == "bitstar": return og.BITstar(si) elif plannerType.lower() == "fmtstar": return og.FMT(si) elif plannerType.lower() == "informedrrtstar": return og.InformedRRTstar(si) elif plannerType.lower() == "prmstar": return og.PRMstar(si) elif plannerType.lower() == "rrtstar": return og.RRTstar(si) elif plannerType.lower() == "sorrtstar": return og.SORRTstar(si) else: OMPL_ERROR("Planner-type is not implemented in allocation function.");
def setPlanner_3d(self): self.si = self.ss.getSpaceInformation() if self.plannerType.lower() == "bitstar": planner = og.BITstar(self.si) elif self.plannerType.lower() == "fmtstar": planner = og.FMT(self.si) elif self.plannerType.lower() == "informedrrtstar": planner = og.InformedRRTstar(self.si) elif self.plannerType.lower() == "prmstar": planner = og.PRMstar(self.si) elif self.plannerType.lower() == "rrtstar": planner = og.RRTstar(self.si) elif self.plannerType.lower() == "sorrtstar": planner = og.SORRTstar(self.si) else: print("Planner-type is not implemented in allocation function.") planner = og.RRTstar(self.si) self.ss.setPlanner(planner)
def allocatePlanner(si,d, plannerType): if plannerType.lower() == "bfmtstar": return og.BFMT(si) elif plannerType.lower() == "bitstar": return og.BITstar(si) elif plannerType.lower() == "fmtstar": return og.FMT(si) elif plannerType.lower() == "informedrrtstar": return og.InformedRRTstar(si) elif plannerType.lower() == "prmstar": return og.PRMstar(si) elif plannerType.lower() == "rrtstar": planner = og.RRTstar(si) planner.setRange(float(d)) return planner elif plannerType.lower() == "sorrtstar": return og.SORRTstar(si) else: ou.OMPL_ERROR("Planner-type is not implemented in allocation function.")
def choose_planner(self, si, planner_type): if planner_type.lower() == "bfmtstar": return og.BFMT(si) elif planner_type.lower() == "bitstar": return og.BITstar(si) elif planner_type.lower() == "fmtstar": return og.FMT(si) elif planner_type.lower() == "informedrrtstar": return og.InformedRRTstar(si) elif planner_type.lower() == "prmstar": return og.PRMstar(si) elif planner_type.lower() == "rrtconnect": return og.RRTConnect(si) elif planner_type.lower() == "rrtsharp": return og.RRTsharp(si) elif planner_type.lower() == "rrtstar": return og.RRTstar(si) elif planner_type.lower() == "sorrtstar": return og.SORRTstar(si) else: ou.OMPL_ERROR( "Planner-type is not implemented in allocation function.")
def allocatePlanner(si, plannerType): if plannerType.lower() == "bfmtstar": return og.BFMT(si) elif plannerType.lower() == "bitstar": planner = og.BITstar(si) planner.setPruning(False) planner.setSamplesPerBatch(200) planner.setRewireFactor(20.) return planner elif plannerType.lower() == "fmtstar": return og.FMT(si) elif plannerType.lower() == "informedrrtstar": return og.InformedRRTstar(si) elif plannerType.lower() == "prmstar": return og.PRMstar(si) elif plannerType.lower() == "rrtstar": return og.RRTstar(si) elif plannerType.lower() == "sorrtstar": return og.SORRTstar(si) elif plannerType.lower() == 'rrtconnect': return og.RRTConnect(si) else: ou.OMPL_ERROR( "Planner-type is not implemented in allocation function.")