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(this list may be out-of-date; the most current documentation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,**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(this list may be out-of-date; the most current documentation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 == None:
space.setup()
if type != None:
motionplanning.setPlanType(type)
if len(options) > 0:
MotionPlan.setOptions(**options)
self.planner = motionplanning.PlannerInterface(space.cspace)
def __init__(self, space, type=None):
"""Initializes a plan with a given CSpace and a given type.
Type can be 'prm', 'rrt', 'sbl'.
"""
if space.cspace == None:
space.setup()
if type != None:
motionplanning.setPlanType(type)
self.planner = motionplanning.PlannerInterface(space.cspace)
def setOptions(**opts):
"""Sets a numeric or string-valued setting for the next constructed
planner. Arguments are specified by key-value pair.
Valid keys are:
* "knn": k value for the k-nearest neighbor connection strategy
(used in PRM)
* "connectionThreshold": a milestone connection threshold
* "perturbationRadius": (for RRT and SBL)
* "bidirectional": 1 if bidirectional planning is requested (used
in RRT)
* "grid": 1 if a point selection grid should be used (used in SBL)
* "gridResolution": resolution for the grid, if the grid should
be used (used in SBL with grid, FMM, FMM*)
* "suboptimalityFactor": allowable suboptimality (used in RRT*,
lazy PRM*, lazy RRG*)
* "randomizeFrequency": a grid randomization frequency (for SBL)
* "shortcut": nonzero if you wish to perform shortcutting to
improve a path after a first plan is found.
* "restart": nonzero if you wish to restart the planner to
get progressively better paths with the remaining time.
* "pointLocation": a string designating a point location data
structure. "kdtree" is supported, optionally followed by a
weight vector (used in PRM, RRT, 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}")
(this list may be out-of-date; the most current documentation
is listed in Klampt/Python/klampt/src/motionplanning.h)
An exception may be thrown if an invalid setting is chosen.
"""
for (a, b) in opts.items():
if a == 'type':
motionplanning.setPlanType(str(b))
elif isinstance(b, str):
motionplanning.setPlanSetting(a, b)
else:
motionplanning.setPlanSetting(a, float(b))
def setOptions(**opts):
"""Sets a numeric or string-valued setting for the next constructed
planner. Arguments are specified by key-value pair.
Valid keys are:
* "knn": k value for the k-nearest neighbor connection strategy
(used in PRM)
* "connectionThreshold": a milestone connection threshold
* "perturbationRadius": (for RRT and SBL)
* "bidirectional": 1 if bidirectional planning is requested (used
in RRT)
* "grid": 1 if a point selection grid should be used (used in SBL)
* "gridResolution": resolution for the grid, if the grid should
be used (used in SBL with grid, FMM, FMM*)
* "suboptimalityFactor": allowable suboptimality (used in RRT*,
lazy PRM*, lazy RRG*)
* "randomizeFrequency": a grid randomization frequency (for SBL)
* "shortcut": nonzero if you wish to perform shortcutting to
improve a path after a first plan is found.
* "restart": nonzero if you wish to restart the planner to
get progressively better paths with the remaining time.
* "pointLocation": a string designating a point location data
structure. "kdtree" is supported, optionally followed by a
weight vector (used in 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}")
(this list may be out-of-date; the most current documentation
is listed in Klampt/Python/klampt/src/motionplanning.h)
An exception may be thrown if an invalid setting is chosen.
"""
for (a,b) in opts.items():
if a=='type':
motionplanning.setPlanType(str(b))
elif isinstance(b,str):
motionplanning.setPlanSetting(a,b)
else:
motionplanning.setPlanSetting(a,float(b))
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)
def setOptions(**opts):
for (a, b) in opts.items():
if a == "type":
motionplanning.setPlanType(str(b))
else:
motionplanning.setPlanSetting(a, float(b))
