RRT*

class discopygal.solvers.rrt.rrt_star.RRT_star(radius: FT, **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:

Roadmap

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 RRT*

class discopygal.solvers.rrt.informed_rrt_star.Informed_RRT_star(goal_radius: FT, **kwargs)

Bases: RRT_star

Docstring for Informed_RRT_star

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

in_goal_region(p)

Check if a state is in the goal region.

Returns True if the state is within goal_radius of the goal, otherwise returns False.

Parameters:

x (Point_2) – state/point to check

Returns:

True if x is in goal region, False otherwise

Return type:

bool