Solvers Documentation

The solvers module contains a few classes that can describe the scene, the sampling logic in the scene or the solver itself. Those classes can be found in:

• Solvers Base Classes
  • Obstacle
    • Obstacle.from_dict()
    • Obstacle.to_dict()
  • ObstacleDisc
    • ObstacleDisc.from_dict()
    • ObstacleDisc.to_dict()
  • ObstaclePolygon
    • ObstaclePolygon.from_dict()
    • ObstaclePolygon.to_dict()
  • Path
  • PathCollection
    • PathCollection.add_robot_path()
  • PathPoint
  • Robot
    • Robot.from_dict()
    • Robot.to_dict()
  • RobotDisc
    • RobotDisc.from_dict()
    • RobotDisc.to_dict()
  • RobotPolygon
    • RobotPolygon.from_dict()
    • RobotPolygon.to_dict()
  • RobotRod
    • RobotRod.from_dict()
    • RobotRod.to_dict()
  • Scene
    • Scene.add_obstacle()
    • Scene.add_robot()
    • Scene.calc_max_robot_size()
    • Scene.from_dict()
    • Scene.remove_obstacle()
    • Scene.remove_robot()
    • Scene.to_dict()
  • SceneDrawer
    • SceneDrawer.clear_scene()
    • SceneDrawer.deselect_entity()
    • SceneDrawer.draw_obstacle()
    • SceneDrawer.draw_robot()
    • SceneDrawer.draw_scene()
    • SceneDrawer.select_entity()
  • load_object_from_dict()
  • Solver
    • Solver.disable_verbose()
    • Solver.from_arguments()
    • Solver.get_arguments()
    • Solver.get_arrangement()
    • Solver.get_bounding_box_graph()
    • Solver.get_graph()
    • Solver.init_default_solver()
    • Solver.load_scene()
    • Solver.log()
    • Solver.set_verbose()
    • Solver.solve()
    • Solver.update_arguments()
• Metrics
  • Metric
    • Metric.CGALPY_impl()
    • Metric.dist()
    • Metric.sklearn_impl()
  • MetricNotImplemented
  • Metric_Euclidean
    • Metric_Euclidean.CGALPY_impl()
    • Metric_Euclidean.dist()
    • Metric_Euclidean.sklearn_impl()
• Nearest Neighbors
  • NearestNeighbors
    • NearestNeighbors.fit()
    • NearestNeighbors.get_points()
    • NearestNeighbors.k_nearest()
    • NearestNeighbors.nearest_in_radius()
  • NearestNeighborsCached
    • NearestNeighborsCached.add_point()
    • NearestNeighborsCached.fit()
    • NearestNeighborsCached.get_points()
    • NearestNeighborsCached.k_nearest()
    • NearestNeighborsCached.nearest_in_radius()
  • NearestNeighbors_CGAL
    • NearestNeighbors_CGAL.fit()
    • NearestNeighbors_CGAL.k_nearest()
    • NearestNeighbors_CGAL.nearest_in_radius()
  • NearestNeighbors_sklearn
    • NearestNeighbors_sklearn.fit()
    • NearestNeighbors_sklearn.k_nearest()
    • NearestNeighbors_sklearn.nearest_in_radius()
• Samplers
  • Sampler
    • Sampler.sample()
    • Sampler.set_scene()
  • Sampler_Uniform
    • Sampler_Uniform.sample()
    • Sampler_Uniform.set_bounds_manually()
    • Sampler_Uniform.set_scene()
• Tensor Roadmap
  • Roadmap
    • Roadmap.add_edge()
    • Roadmap.add_point()
    • Roadmap.add_random_point()
    • Roadmap.get_points()
  • TensorRoadmap
    • TensorRoadmap.add_tensor_vertex()
    • TensorRoadmap.clean_tensor_edge()
    • TensorRoadmap.find_best_edge()
    • TensorRoadmap.get_tensor_subgraph()
    • TensorRoadmap.nearest_tensor_vertex()
    • TensorRoadmap.try_connecting()
  • build_probabilistic_roadmap()
• Verify Paths
  • verify_paths()

This module also contains concrete solvers:

• RRT Variants
  • RRT
    • RRT
  • BiRRT
    • BiRRT
  • dRRT
    • dRRT
• PRM Variants
  • PRM
    • PRM
• Exact Variants
  • ExactSingleDisc
    • ExactSingleDisc