gennav.planners.prm package¶

Submodules¶

gennav.planners.prm.prm module¶

class gennav.planners.prm.prm.PRM(sampler, r, n, *args, **kwargs)¶

Bases: gennav.planners.base.Planner

PRM Class.

Parameters:	sampler (gennav.utils.sampler.Sampler) – sampler to get random states r (float) – maximum radius to look for neighbours n (int) – total no. of nodes to be sampled in sample_area

construct(env)¶

Constructs PRM graph.

Parameters:	env (gennav.envs.Environment) – Base class for an envrionment.
Returns:	A dict where the keys correspond to nodes and the values for each key is a list of the neighbour nodes
Return type:	graph (gennav.utils.graph)

plan(start, goal, env)¶

Constructs a graph avoiding obstacles and then plans path from start to goal within the graph. :param start: tuple with start point coordinates. :type start: gennav.utils.RobotState :param goal: tuple with end point coordinates. :type goal: gennav.utils.RobotState :param env: Base class for an envrionment. :type env: gennav.envs.Environment

Returns:	The planned path as trajectory dict: Dictionary containing additional information
Return type:	gennav.utils.Trajectory

replan(start, goal, env)¶

Constructs a graph avoiding obstacles and then replans path from start to goal within the graph. :param start: tuple with start point coordinates. :type start: gennav.utils.RobotState :param goal: tuple with end point coordinates. :type goal: gennav.utils.RobotState :param env: Base class for an envrionment. :type env: gennav.envs.Environment

Returns:	The planned path as trajectory dict: Dictionary containing additional information
Return type:	gennav.utils.Trajectory

gennav.planners.prm.prmstar module¶

class gennav.planners.prm.prmstar.PRMStar(sampler, c, n, *args, **kwargs)¶