gennav.utils.graph_search package

Submodules

gennav.utils.graph_search.astar module

class gennav.utils.graph_search.astar.NodeAstar(**data)

Bases: gennav.utils.common.Node

Node class for Astar Node

gennav.utils.graph_search.astar.astar(graph, start, end, heuristic={})

Performs A-star search to find the shortest path from start to end

Parameters:
  • graph (gennav.utils.graph) – Dictionary representing the graph where keys are the nodes and the value is a list of all neighbouring nodes
  • start (gennav.utils.RobotState) – Point representing key corresponding to the start point
  • end (gennav.utils.RobotState) – Point representing key corresponding to the end point
  • heuristic (dict) – Dictionary containing the heuristic values for all the nodes, if not specified the default heuristic is euclidean distance
Returns:

The planned path as trajectory
Return type:

gennav.utils.Trajectory