dRRT*

class discopygal.solvers.rrt.drrt_star.dRRT_star(num_expands, **kwargs)

Bases: dRRT

classmethod get_arguments()

Return a list of arguments and their description, defaults and types. Can be used by a GUI to generate fields dynamically. Should be overridded by solvers.

Returns:

arguments dict

Return type:

dict

informed_expansion(tensor_vertex, tensor_point)

Returns best new vertex to expand :param tensor_vertex: vertex on tensor roadmap to start from (v_near) :param tensor_point: point to expand towards (q_rand) :return: best new vertex on roadmap

search_tensor_roadmap()

Load a scene into the solver. Also build the tensor roadmap.

Parameters:

scene (Scene) – scene to load

ao-dRRT

Still not functional

class discopygal.solvers.rrt.ao_drrt.ao_dRRT(expansion_times, **kwargs)

Bases: dRRT

classmethod get_arguments()

Return a list of arguments and their description, defaults and types. Can be used by a GUI to generate fields dynamically. Should be overridded by solvers.

Returns:

arguments dict

Return type:

dict

search_tensor_roadmap()

Load a scene into the solver. Also build the tensor roadmap.

Parameters:

scene (Scene) – scene to load