def generate_paths(self, algo="a-star"):
if algo == "a-star":
for robot in self.robots:
astar = Astar(robot.pose, robot.goal, self.obstacles)
robot.path = astar.generate_path()
elif algo == "rrt":
for robot in self.robots:
rrt = RRT(robot.pose, robot.goal, self.obstacles)
robot.path = rrt.generate_path()
else:
print "No such algo currently exists."
return
