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
def displayfunc(self):
GLProgram.displayfunc(self)
self.painted = True
