Revolving Areas

This module contains implementations of Revolving Areas (by Netanel Esman).

Must also install the RA python package for it to work

class discopygal.solvers.revolving_areas.revolving_areas_solver.RevolvingAreas(shortcut_paths, mode, sub_mode, depth, max_simultaneous_robots, min_distance, pairing_k, num_landmarks, k, epsilon, allow_backtracking, bounding_margin_width_factor=-1)

Bases: Solver

collision_free(p, q)

Get two points in the configuration space and decide if they can be connected

static from_arguments(d)

Get a dictionary of arguments and return a solver. Should be overridded by solvers.

Parameters:

d (dict) – arguments dict

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

get_graph()

Return a graph (if applicable). Can be overridded by solvers.

Returns:

graph whose vertices are Point_2 or Point_d

Return type:

networkx.Graph or None

load_scene(scene: Scene)

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

Parameters:

scene (Scene) – scene to load