LBT-rrt

Adapted from code by Shaked Klingbell

class discopygal.solvers.rrt.lbt_rrt.LBT_RRT(epsilon, **kwargs)

Bases: RRT

build_roadmap()

Constructs the roadmap of points in the configuration space which a path will be searched on to find a solution. Every sampling solver should implement how to build the roadmap.

Returns:

The built roadmap. Each node represents a point in configuration space (dimension = 2*robots_num)

Return type:

nx.Graph

consider_edge(x1, x2)

Following algorithm 6 from the paper.

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