def allocatePlanner(si, plannerType):
if plannerType.lower() == "bfmtstar":
return og.BFMT(si)
elif plannerType.lower() == "bitstar":
return og.BITstar(si)
elif plannerType.lower() == "fmtstar":
return og.FMT(si)
elif plannerType.lower() == "informedrrtstar":
return og.InformedRRTstar(si)
elif plannerType.lower() == "prmstar":
return og.PRMstar(si)
elif plannerType.lower() == "rrtstar":
return og.RRTstar(si)
elif plannerType.lower() == "sorrtstar":
return og.SORRTstar(si)
elif plannerType.lower() == "rrtxstatic":
return og.RRTXstatic(si)
elif plannerType.lower() == "rrtsharp":
return og.RRTsharp(si)
# multi-query
elif plannerType.lower() == "lazyprmstar":
return og.LazyPRMstar(si)
# single-query
elif plannerType.lower() == "rrtconnect":
return og.RRTConnect(si)
elif plannerType.lower() == "lbtrrt":
return og.LBTRRT(si)
elif plannerType.lower() == "lazylbtrrt":
return og.LazyLBTRRT(si)
else:
ou.OMPL_ERROR(
"Planner-type is not implemented in allocation function.")
def allocatePlanner(self,si,plannerType):
if plannerType.lower() == "bitstar":
return og.BITstar(si)
elif plannerType.lower() == "fmtstar":
return og.FMT(si)
elif plannerType.lower() == "informedrrtstar":
return og.InformedRRTstar(si)
elif plannerType.lower() == "prmstar":
return og.PRMstar(si)
elif plannerType.lower() == "rrtstar":
return og.RRTstar(si)
elif plannerType.lower() == "sorrtstar":
return og.SORRTstar(si)
else:
OMPL_ERROR("Planner-type is not implemented in allocation function.");
def setPlanner_3d(self):
self.si = self.ss.getSpaceInformation()
if self.plannerType.lower() == "bitstar":
planner = og.BITstar(self.si)
elif self.plannerType.lower() == "fmtstar":
planner = og.FMT(self.si)
elif self.plannerType.lower() == "informedrrtstar":
planner = og.InformedRRTstar(self.si)
elif self.plannerType.lower() == "prmstar":
planner = og.PRMstar(self.si)
elif self.plannerType.lower() == "rrtstar":
planner = og.RRTstar(self.si)
elif self.plannerType.lower() == "sorrtstar":
planner = og.SORRTstar(self.si)
else:
print("Planner-type is not implemented in allocation function.")
planner = og.RRTstar(self.si)
self.ss.setPlanner(planner)
def allocatePlanner(si,d, plannerType):
if plannerType.lower() == "bfmtstar":
return og.BFMT(si)
elif plannerType.lower() == "bitstar":
return og.BITstar(si)
elif plannerType.lower() == "fmtstar":
return og.FMT(si)
elif plannerType.lower() == "informedrrtstar":
return og.InformedRRTstar(si)
elif plannerType.lower() == "prmstar":
return og.PRMstar(si)
elif plannerType.lower() == "rrtstar":
planner = og.RRTstar(si)
planner.setRange(float(d))
return planner
elif plannerType.lower() == "sorrtstar":
return og.SORRTstar(si)
else:
ou.OMPL_ERROR("Planner-type is not implemented in allocation function.")
def choose_planner(self, si, planner_type):
if planner_type.lower() == "bfmtstar":
return og.BFMT(si)
elif planner_type.lower() == "bitstar":
return og.BITstar(si)
elif planner_type.lower() == "fmtstar":
return og.FMT(si)
elif planner_type.lower() == "informedrrtstar":
return og.InformedRRTstar(si)
elif planner_type.lower() == "prmstar":
return og.PRMstar(si)
elif planner_type.lower() == "rrtconnect":
return og.RRTConnect(si)
elif planner_type.lower() == "rrtsharp":
return og.RRTsharp(si)
elif planner_type.lower() == "rrtstar":
return og.RRTstar(si)
elif planner_type.lower() == "sorrtstar":
return og.SORRTstar(si)
else:
ou.OMPL_ERROR(
"Planner-type is not implemented in allocation function.")
def allocatePlanner(si, plannerType):
if plannerType.lower() == "bfmtstar":
return og.BFMT(si)
elif plannerType.lower() == "bitstar":
planner = og.BITstar(si)
planner.setPruning(False)
planner.setSamplesPerBatch(200)
planner.setRewireFactor(20.)
return planner
elif plannerType.lower() == "fmtstar":
return og.FMT(si)
elif plannerType.lower() == "informedrrtstar":
return og.InformedRRTstar(si)
elif plannerType.lower() == "prmstar":
return og.PRMstar(si)
elif plannerType.lower() == "rrtstar":
return og.RRTstar(si)
elif plannerType.lower() == "sorrtstar":
return og.SORRTstar(si)
elif plannerType.lower() == 'rrtconnect':
return og.RRTConnect(si)
else:
ou.OMPL_ERROR(
"Planner-type is not implemented in allocation function.")
