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()
