def setOptions(**opts):
"""Sets a numeric or string-valued setting for the next constructed
planner. Arguments are specified by key-value pair.
Valid keys are:
* "knn": k value for the k-nearest neighbor connection strategy
(used in PRM)
* "connectionThreshold": a milestone connection threshold
* "perturbationRadius": (for RRT and SBL)
* "bidirectional": 1 if bidirectional planning is requested (used
in RRT)
* "grid": 1 if a point selection grid should be used (used in SBL)
* "gridResolution": resolution for the grid, if the grid should
be used (used in SBL with grid, FMM, FMM*)
* "suboptimalityFactor": allowable suboptimality (used in RRT*,
lazy PRM*, lazy RRG*)
* "randomizeFrequency": a grid randomization frequency (for SBL)
* "shortcut": nonzero if you wish to perform shortcutting to
improve a path after a first plan is found.
* "restart": nonzero if you wish to restart the planner to
get progressively better paths with the remaining time.
* "pointLocation": a string designating a point location data
structure. "kdtree" is supported, optionally followed by a
weight vector (used in PRM, RRT*, PRM*, LazyPRM*, LazyRRG*)
* "restartTermCond": used if the "restart" setting is true.
This is a JSON string defining the termination condition
(default value: "{foundSolution:1;maxIters:1000}")
(this list may be out-of-date; the most current documentation
is listed in Klampt/Python/klampt/src/motionplanning.h)
An exception may be thrown if an invalid setting is chosen.
"""
for (a,b) in opts.items():
if a=='type':
motionplanning.setPlanType(str(b))
elif isinstance(b,str):
motionplanning.setPlanSetting(a,b)
else:
motionplanning.setPlanSetting(a,float(b))
def setOptions(**opts):
"""Sets a numeric or string-valued setting for the next constructed
planner. Arguments are specified by key-value pair.
Valid keys are:
* "knn": k value for the k-nearest neighbor connection strategy
(used in PRM)
* "connectionThreshold": a milestone connection threshold
* "perturbationRadius": (for RRT and SBL)
* "bidirectional": 1 if bidirectional planning is requested (used
in RRT)
* "grid": 1 if a point selection grid should be used (used in SBL)
* "gridResolution": resolution for the grid, if the grid should
be used (used in SBL with grid, FMM, FMM*)
* "suboptimalityFactor": allowable suboptimality (used in RRT*,
lazy PRM*, lazy RRG*)
* "randomizeFrequency": a grid randomization frequency (for SBL)
* "shortcut": nonzero if you wish to perform shortcutting to
improve a path after a first plan is found.
* "restart": nonzero if you wish to restart the planner to
get progressively better paths with the remaining time.
* "pointLocation": a string designating a point location data
structure. "kdtree" is supported, optionally followed by a
weight vector (used in PRM, RRT, RRT*, PRM*, LazyPRM*, LazyRRG*)
* "restartTermCond": used if the "restart" setting is true.
This is a JSON string defining the termination condition
(default value: "{foundSolution:1;maxIters:1000}")
(this list may be out-of-date; the most current documentation
is listed in Klampt/Python/klampt/src/motionplanning.h)
An exception may be thrown if an invalid setting is chosen.
"""
for (a, b) in opts.items():
if a == 'type':
motionplanning.setPlanType(str(b))
elif isinstance(b, str):
motionplanning.setPlanSetting(a, b)
else:
motionplanning.setPlanSetting(a, float(b))
def setOptions(**opts):
for (a, b) in opts.items():
if a == "type":
motionplanning.setPlanType(str(b))
else:
motionplanning.setPlanSetting(a, float(b))
