def __init__(self, space, start=(0.1, 0.5), goal=(0.9, 0.5)): GLProgram.__init__(self) self.space = space #PRM planner MotionPlan.setOptions(type="prm", knn=10, connectionThreshold=0.1) self.optimizingPlanner = False #FMM* planner #MotionPlan.setOptions(type="fmm*") #self.optimizingPlanner = True #RRT planner #MotionPlan.setOptions(type="rrt",perturbationRadius=0.25,bidirectional=True) #self.optimizingPlanner = False #RRT* planner #MotionPlan.setOptions(type="rrt*") #self.optimizingPlanner = True #random-restart RRT planner #MotionPlan.setOptions(type="rrt",perturbationRadius=0.25,bidirectional=True,shortcut=True,restart=True,restartTermCond="{foundSolution:1,maxIters:1000}") #self.optimizingPlanner = True self.planner = MotionPlan(space) self.start = start self.goal = goal self.planner.setEndpoints(start, goal) self.path = [] self.G = None
def __init__(self,space,start=(0.1,0.5),goal=(0.9,0.5)): GLProgram.__init__(self) self.space = space #PRM planner MotionPlan.setOptions(type="prm",knn=10,connectionThreshold=0.1) self.optimizingPlanner = False #FMM* planner #MotionPlan.setOptions(type="fmm*") #self.optimizingPlanner = True #RRT planner #MotionPlan.setOptions(type="rrt",perturbationRadius=0.25,bidirectional=True) #self.optimizingPlanner = False #RRT* planner #MotionPlan.setOptions(type="rrt*") #self.optimizingPlanner = True #random-restart RRT planner #MotionPlan.setOptions(type="rrt",perturbationRadius=0.25,bidirectional=True,shortcut=True,restart=True,restartTermCond="{foundSolution:1,maxIters:1000}") #self.optimizingPlanner = True self.planner = MotionPlan(space) self.start=start self.goal=goal self.planner.setEndpoints(start,goal) self.path = [] self.G = None
def __init__(self,problem,planner,plannerFilePrefix): GLProgram.__init__(self) self.problem = problem self.planner = planner self.plannerFilePrefix = plannerFilePrefix self.path = None self.G = None self.painted = False self.save_movie = False self.movie_frame = 0
def __init__(self,space,start=(0.1,0.5),goal=(0.9,0.5)): GLProgram.__init__(self) self.space = space MotionPlan.setOptions(type="prm",knn=10,connectionThreshold=0.1) #MotionPlan.setOptions(type="rrt",perturbationRadius=0.25,bidirectional=True) self.planner = MotionPlan(space) self.start=start self.goal=goal self.planner.setEndpoints(start,goal) self.path = []
def __init__(self, problem, **plannerParams): GLProgram.__init__(self) self.problem = problem if 'type' in plannerParams: self.plannerType = plannerParams['type'] del plannerParams['type'] else: self.plannerType = 'r-rrt' self.planner = problem.planner(self.plannerType, **plannerParams) self.path = None self.G = None