robotics_toolbox.planning.rrt.RRT
- class robotics_toolbox.planning.rrt.RRT(robot, delta_q=0.2, p_sample_goal=0.5)
Bases:
object- Parameters:
robot (RobotBase)
- __init__(robot, delta_q=0.2, p_sample_goal=0.5)
RRT planner for a given robot. :param robot: robot used to sample configuration and check collisions :param delta_q: maximum distance between two configurations :param p_sample_goal: probability of sampling goal as q_rand
- Parameters:
robot (RobotBase)
- Return type:
None
Methods
__init__(robot[, delta_q, p_sample_goal])RRT planner for a given robot.
plan(q_start, q_goal[, max_iterations])RRT algorithm for motion planning.
random_shortcut(path[, max_iterations])Random shortcut algorithm that pick two points on the path randomly and tries to interpolate between them.
- plan(q_start, q_goal, max_iterations=10000)
RRT algorithm for motion planning.
- Parameters:
q_start (_SupportsArray[dtype[Any]] | _NestedSequence[_SupportsArray[dtype[Any]]] | bool | int | float | complex | str | bytes | _NestedSequence[bool | int | float | complex | str | bytes] | SE2 | SE3)
q_goal (_SupportsArray[dtype[Any]] | _NestedSequence[_SupportsArray[dtype[Any]]] | bool | int | float | complex | str | bytes | _NestedSequence[bool | int | float | complex | str | bytes] | SE2 | SE3)
max_iterations (int)
- Return type:
list[_SupportsArray[dtype[Any]] | _NestedSequence[_SupportsArray[dtype[Any]]] | bool | int | float | complex | str | bytes | _NestedSequence[bool | int | float | complex | str | bytes] | SE2 | SE3]
- random_shortcut(path, max_iterations=100)
Random shortcut algorithm that pick two points on the path randomly and tries to interpolate between them. If collision free interpolation exists, the path between selected points is replaced by the interpolation.