def init(self, id_dds, dds): super(InformedPlannerHierarchy, self).init(id_dds, dds) self.cover = DiffeoCover(id_dds, self.dds_hard, self.ds, **self.diffeo_cover_params) self.cover.go() # precompute and save all distances self.cover.compute_distances()
def __init__(self, id_dds, dds, tolerance, collapse_threshold, min_visibility, debug_it, max_it): self.dds = dds self.ds = DiffeoStructure(dds, tolerance) self.cover = DiffeoCover(id_dds, self.dds, self.ds, collapse_threshold=collapse_threshold, min_visibility=min_visibility, debug_it=debug_it, max_it=max_it) self.cover.go()