gennav.planners package

Subpackages

• gennav.planners.potential_field package
  • Submodules
  • gennav.planners.potential_field.potential_field module
  • Module contents
• gennav.planners.prm package
  • Submodules
  • gennav.planners.prm.prm module
  • gennav.planners.prm.prmstar module
  • Module contents
• gennav.planners.rrt package
  • Submodules
  • gennav.planners.rrt.informed_rrtstar module
  • gennav.planners.rrt.rrg module
  • gennav.planners.rrt.rrt module
  • gennav.planners.rrt.rrtstar module
  • Module contents

Submodules

gennav.planners.base module

class gennav.planners.base.Planner

Bases: object

Base class for path planning algorithms.

plan(start, goal, env)

Plan path from start to goal in given environment.

This method needs to be implemented in the specific path planner.

Parameters:

• start (gennav.utils.common.RobotState) – Initial robot state
• goal (gennav.utils.common.RobotState) – Goal robot state
• env (gennav.envs.Env) – Robot environment to plan in

Returns:

The planned path as trajectory

Return type:

gennav.utils.common.Trajectory

Module contents