dRRT*
- class discopygal.solvers.rrt.drrt_star.dRRT_star(num_expands, random_sample_counter, **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