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:
- 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