def setPlanSetting(*args):
"""
setPlanSetting(char const * setting, double value)
void setPlanSetting(const char
*setting, double value)
Sets a setting for the planner.
Valid values are "knn": k value for the k-nearest neighbor
connection strategy (only for PRM)
"connectionThreshold": a milestone connection threshold
"perturbationRadius": (only for RRT and SBL)
"bidirectional": 1 if bidirectional planning is requested (only for
RRT)
"grid": 1 if a point selection grid should be used (only for SBL)
"gridResolution": resolution for the grid, if the grid should be
used
"randomizeFrequency": a grid randomization frequency (only for SBL)
"""
return _motionplanning.setPlanSetting(*args)
def setPlanSetting(*args):
"""
Sets a numeric or string-valued setting for the planner.
setPlanSetting (setting,value)
Args:
setting (str):
value (float or str):
Valid numeric values are:
* "knn": k value for the k-nearest neighbor connection strategy (only for
PRM)
* "connectionThreshold": a milestone connection threshold
* "perturbationRadius": (for RRT and SBL)
* "bidirectional": 1 if bidirectional planning is requested (for RRT)
* "grid": 1 if a point selection grid should be used (for SBL)
* "gridResolution": resolution for the grid, if the grid should be used (for
SBL with grid, FMM, FMM*)
* "suboptimalityFactor": allowable suboptimality (for RRT*, lazy PRM*, lazy
RRG*)
* "randomizeFrequency": a grid randomization frequency (for SBL)
* "shortcut": nonzero if you wish to perform shortcutting after a first plan
is found.
* "restart": nonzero if you wish to restart the planner to get better paths
with the remaining time.
Valid string values are:
* "pointLocation": a string designating a point location data structure.
"kdtree" is supported, optionally followed by a weight vector (for PRM,
RRT*, PRM*, LazyPRM*, LazyRRG*)
* "restartTermCond": used if the "restart" setting is true. This is a JSON
string defining the termination condition.
The default value is "{foundSolution:1;maxIters:1000}", which indicates
that the planner will restart if it has found a solution, or 1000 iterations
have passed.
To restart after a certain amount of time has elasped, use
"{timeLimit:X}". If you are using an optimizing planner, e.g.,
shortcutting, you should set foundSolution:0.
"""
return _motionplanning.setPlanSetting(*args)
def setPlanSetting(*args):
"""
setPlanSetting(char const * setting, double value)
setPlanSetting(char const * setting, char const * value)
void setPlanSetting(const char
*setting, const char *value)
Sets a numeric or string-valued setting for the planner.
Valid numeric values are: "knn": k value for the k-nearest neighbor
connection strategy (only for PRM)
"connectionThreshold": a milestone connection threshold
"perturbationRadius": (for RRT and SBL)
"bidirectional": 1 if bidirectional planning is requested (for RRT)
"grid": 1 if a point selection grid should be used (for SBL)
"gridResolution": resolution for the grid, if the grid should be
used (for SBL with grid, FMM, FMM*)
"suboptimalityFactor": allowable suboptimality (for RRT*, lazy PRM*,
lazy RRG*)
"randomizeFrequency": a grid randomization frequency (for SBL)
"shortcut": nonzero if you wish to perform shortcutting after a
first plan is found.
"restart": nonzero if you wish to restart the planner to get better
paths with the remaining time.
Valid string values are: "pointLocation": a string designating a
point location data structure. "kdtree" is supported, optionally
followed by a weight vector (for PRM, RRT*, PRM*, LazyPRM*, LazyRRG*)
"restartTermCond": used if the "restart" setting is true. This is
a JSON string defining the termination condition (default value:
"{foundSolution:1;maxIters:1000}")
"""
return _motionplanning.setPlanSetting(*args)
def setPlanSetting(*args):
"""
setPlanSetting(char const * setting, double value)
setPlanSetting(char const * setting, char const * value)
void setPlanSetting(const char
*setting, const char *value)
Sets a numeric or string-valued setting for the planner.
Valid numeric values are: "knn": k value for the k-nearest neighbor
connection strategy (only for PRM)
"connectionThreshold": a milestone connection threshold
"perturbationRadius": (for RRT and SBL)
"bidirectional": 1 if bidirectional planning is requested (for RRT)
"grid": 1 if a point selection grid should be used (for SBL)
"gridResolution": resolution for the grid, if the grid should be
used (for SBL with grid, FMM, FMM*)
"suboptimalityFactor": allowable suboptimality (for RRT*, lazy PRM*,
lazy RRG*)
"randomizeFrequency": a grid randomization frequency (for SBL)
"shortcut": nonzero if you wish to perform shortcutting after a
first plan is found.
"restart": nonzero if you wish to restart the planner to get better
paths with the remaining time.
Valid string values are: "pointLocation": a string designating a
point location data structure. "kdtree" is supported, optionally
followed by a weight vector (for PRM, RRT*, PRM*, LazyPRM*, LazyRRG*)
"restartTermCond": used if the "restart" setting is true. This is
a JSON string defining the termination condition (default value:
"{foundSolution:1;maxIters:1000}")
"""
return _motionplanning.setPlanSetting(*args)
def setPlanSetting(*args): return _motionplanning.setPlanSetting(*args)
