def setup(self):
"""Called internally by the MotionPlan class to set up planning
hooks."""
assert self.cspace == None
self.cspace = motionplanning.CSpaceInterface()
if hasattr(self, 'feasible'):
self.cspace.setFeasibility(getattr(self, 'feasible'))
else:
raise 'Need feasible method'
if hasattr(self, 'visible'):
self.cspace.setVisibility(getattr(self, 'visible'))
else:
self.cspace.setVisibilityEpsilon(self.eps)
if hasattr(self, 'sample'):
self.cspace.setSampler(getattr(self, 'sample'))
else:
raise 'Need sample method'
if hasattr(self, 'sampleneighborhood'):
self.cspace.setNeighborhoodSampler(
getattr(self, 'sampleneighborhood'))
if hasattr(self, 'distance'):
self.cspace.setDistance(getattr(self, 'distance'))
if hasattr(self, 'interpolate'):
self.cspace.setInterpolate(getattr(self, 'interpolate'))
for (k, v) in self.properties:
if isinstance(v, (list, tuple)):
self.cspace.setPropety(k, " ".join([str(item) for item in v]))
else:
self.cspace.setProperty(k, str(v))
def setup(self,reinit = False):
"""Called internally by the MotionPlan class to set up planning
hooks.
If reinit is not set to True, and the setup() method has been called before,
a warning message will be printed. Set it to True to suppress this message."""
if self.cspace is not None:
if not reinit:
print "CSpace.setup(): Performance warning, called twice, destroying previous CSpaceInterface object"
self.cspace.destroy()
self.cspace = motionplanning.CSpaceInterface()
if self.feasibilityTests is not None:
for n,f in zip(self.feasibilityTestNames,self.feasibilityTests):
self.cspace.addFeasibilityTest(n,f)
self.cspace.enableAdaptiveQueries()
for (n,d) in self.feasibilityTestDependencies:
self.cspace.setFeasibilityDependency(n,d)
else:
if hasattr(self,'feasible'):
self.cspace.setFeasibility(getattr(self,'feasible'))
else:
raise 'Need feasible method or addFeasibilityTests'
if hasattr(self,'visible'):
self.cspace.setVisibility(getattr(self,'visible'))
else:
self.cspace.setVisibilityEpsilon(self.eps)
if hasattr(self,'sample'):
self.cspace.setSampler(getattr(self,'sample'))
else:
raise 'Need sample method'
if hasattr(self,'sampleneighborhood'):
self.cspace.setNeighborhoodSampler(getattr(self,'sampleneighborhood'))
if hasattr(self,'distance'):
self.cspace.setDistance(getattr(self,'distance'))
if hasattr(self,'interpolate'):
self.cspace.setInterpolate(getattr(self,'interpolate'))
for (k,v) in self.properties.iteritems():
if isinstance(v,(list,tuple)):
self.cspace.setProperty(k," ".join([str(item) for item in v]))
else:
self.cspace.setProperty(k,str(v))