def __init__(self, title, occupancyGrid):
PlannerBase.__init__(self, title, occupancyGrid)
# Flag to store if the last plan was successful
self.goalReached = None
#All the information trackers are stored here as they are common to all general forward search algorithms.
self.max_queue_length = 0
#Not yet implemented
self.total_angle = 0
def __init__(self, title, occupancyGrid):
PlannerBase.__init__(self, title, occupancyGrid)
# If the goal cell is occupied, the planner will still find a
# route. If the following flag is set to true the planner
# will, however, not go to the goal but stop one cell short.
self.removeGoalCellFromPathIfOccupied = False
self.goalCellLabel = None
# Flag to store if the last plan was successful
self.goalReached = None
def __init__(self, title, occupancyGrid):
PlannerBase.__init__(self, title, occupancyGrid)
self.goalReached = None
self.goal = None # a coords such as (x, y)
# internal states for task 1.1
self._numberOfCellsVisited = NOTSETUP
self._totalTravelCost = NOTSETUP
self._totalAngleTurned = NOTSETUP
self._direction = -1 #default direction of robot is "not record"
def __init__(self, title, occupancyGrid):
print '> > > > > [__init__] GeneralForwardSearchAlgorithm'
PlannerBase.__init__(self, title, occupancyGrid)
# If the goal cell is occupied, the planner will still find a
# route. If the following flag is set to true the planner
# will, however, not go to the goal but stop one cell short.
self.removeGoalCellFromPathIfOccupied = False
self.goalCellLabel = None
# Flag to store if the last plan was successful
self.goalReached = None
# Analytics
self.total_travel_cost = 0
def __init__(self, title, occupancyGrid):
PlannerBase.__init__(self, title, occupancyGrid)
# Use the search grid to see if the start or destination are
# good. This is a parameter because we want to preserve the
# old behaviour for people who have used it in their coursework
self.useSearchGridToValidateStartAndEnd = \
rospy.get_param('use_search_grid_to_validate_start_and_end', True)
# If the goal cell is occupied, the planner will still find a
# route. If the following flag is set to true the planner
# will, however, not go to the goal but stop one cell short.
self.removeGoalCellFromPathIfOccupied = False
self.goalCellLabel = None
# Flag to store if the last plan was successful
self.goalReached = None
def __init__(self, title, occupancyGrid):
PlannerBase.__init__(self, title, occupancyGrid)
# Flag to store if the last plan was successful
self.goalReached = None