def replan(self, restarts=RRT_RESTARTS, iterations=RRT_ITERATIONS, smooth=RRT_SMOOTHING): body = self.cspace.body with body: self.cspace.set_active() path = birrt(self.start(), self.end(), distance_fn(body), sample_fn(body), extend_fn(body), collision_fn(get_env(), body), restarts=restarts, iterations=iterations, smooth=smooth) if path is None: return None return PathTrajectory(self.cspace, path)
def shortcut(self): with self.cspace.body: self.cspace.set_active() return PathTrajectory(self.cspace, smooth_path(self.path(), extend_fn(self.cspace.body), collision_fn(get_env(), self.cspace.body)))