def birrt(q1, q2, distance, sample, extend, collision, restarts=RRT_RESTARTS, iterations=RRT_ITERATIONS, smooth=RRT_SMOOTHING): for _ in irange(restarts+1): path = rrt_connect(q1, q2, distance, sample, extend, collision, iterations=iterations) if path is not None: if smooth is None: return path return smooth_path(path, extend, collision, iterations=smooth) return None
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)))