gennav.planners.rrt package

Submodules

gennav.planners.rrt.informed_rrtstar module

class gennav.planners.rrt.informed_rrtstar.InformedRRTstar(sampler, expand_dis=0.1, neighbourhood_radius=0.5, goal_distance=0.2, max_iter=500, *args, **kwargs)

Bases: gennav.planners.base.Planner

plan(start, goal, env)

Path planning method

Parameters:
Returns:

The path as a Trajectory dict: Dictionary containing additional information like the node_list
Return type:

gennav.utils.Trajectory
replan(start, goal, env)

Path replanning method

Parameters:
Returns:

The path as a Trajectory dict: Dictionary containing additional information like the node_list
Return type:

gennav.utils.Trajectory

gennav.planners.rrt.rrg module

class gennav.planners.rrt.rrg.RRG(sampler, expand_dis=1.0, max_iter=500, *args, **kwargs)

Bases: gennav.planners.base.Planner

RRT star algorithm

plan(start, end, env)

Plans path from start to goal avoiding obstacles. :param start: Starting state :type start: gennav.utils.RobotState :param end: Goal state :type end: gennav.utils.RobotState :param env: (gennav.envs.Environment) Base class for an envrionment.

Returns:The planned path as trajectory dict: Dictionary containing additional information
Return type:gennav.utils.Trajectory
replan(start, end, env)

Replans path from start to goal avoiding obstacles. :param start: Starting state :type start: gennav.utils.RobotState :param end: Goal state :type end: gennav.utils.RobotState :param env: (gennav.envs.Environment) Base class for an envrionment.

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

gennav.planners.rrt.rrt module

class gennav.planners.rrt.rrt.RRT(sampler, expand_dis=0.1, *args, **kwargs)

Bases: gennav.planners.base.Planner

RRT Planner Class.

Parameters:
  • sampler (gennav.utils.sampler.Sampler) – sampler to get random states
  • expand_dis (float) – distance to expand tree by at each step
plan(start, goal, env)

Plans path from start to goal avoiding obstacles.

Parameters:
  • start_point (gennav.utils.RobotState) – with start point coordinates.
  • end_point (gennav.utils.RobotState) – with end point coordinates.
  • env – (gennav.envs.Environment) Base class for an envrionment.
Returns:

The planned path as trajectory dict: Dictionary containing additional information like the node_list
Return type:

gennav.utils.Trajectory
replan(start, goal, env)

Replans path from start to goal avoiding obstacles.

Parameters:
  • start_point (gennav.utils.RobotState) – with start point coordinates.
  • end_point (gennav.utils.RobotState) – with end point coordinates.
  • env – (gennav.envs.Environment) Base class for an envrionment.
Returns:

The planned path as trajectory dict: Dictionary containing additional information like the node_list
Return type:

gennav.utils.Trajectory

gennav.planners.rrt.rrtstar module

class gennav.planners.rrt.rrtstar.RRTstar(sampler, expand_dis=0.1, neighbourhood_radius=0.5, goal_distance=0.2, max_iter=500)

Bases: gennav.planners.base.Planner

plan(start, goal, env)

Path planning method

Parameters:
Returns:

The path as a Trajectory dict: Dictionary containing additional information like the node_list
Return type:

gennav.utils.Trajectory
replan(start, goal, env)

Path replanning method

Parameters:
Returns:

The path as a Trajectory dict: Dictionary containing additional information like the node_list
Return type:

gennav.utils.Trajectory

Module contents