roboplan.roboplan_ext.rrt
=========================

.. py:module:: roboplan.roboplan_ext.rrt


Classes
-------

.. autoapisummary::

   roboplan.roboplan_ext.rrt.Node
   roboplan.roboplan_ext.rrt.RRTOptions
   roboplan.roboplan_ext.rrt.RRT


Module Contents
---------------

.. py:class:: Node(config, parent_id)

   Defines a graph node for search-based planners.


   .. py:property:: config
      :type: Annotated[numpy.typing.NDArray[numpy.float64], dict(shape=(None, ), order='C')]


      The configuration (e.g., joint positions) of this node.


   .. py:property:: parent_id
      :type: int


      The parent node ID.


.. py:class:: RRTOptions(group_name = '', max_nodes = 1000, max_connection_distance = 3.0, collision_check_step_size = 0.05, goal_biasing_probability = 0.15, max_planning_time = 0.0, rrt_connect = False)

   Options struct for RRT planner.


   .. py:property:: group_name
      :type: str


      The joint group name to be used by the planner.


   .. py:property:: max_nodes
      :type: int


      The maximum number of nodes to sample.


   .. py:property:: max_connection_distance
      :type: float


      The maximum configuration distance between two nodes.


   .. py:property:: collision_check_step_size
      :type: float


      The configuration-space step size for collision checking along edges.


   .. py:property:: goal_biasing_probability
      :type: float


      The probability of sampling the goal node instead of a random node.


   .. py:property:: max_planning_time
      :type: float


      The maximum amount of time to allow for planning, in seconds.


   .. py:property:: rrt_connect
      :type: bool


      If true, use the RRT-Connect algorithm to grow the search trees.


.. py:class:: RRT(scene, options)

   Motion planner based on the Rapidly-exploring Random Tree (RRT) algorithm.


   .. py:method:: plan(start, goal)

      Plan a path from start to goal.



   .. py:method:: setRngSeed(seed)

      Sets the seed for the random number generator (RNG).



   .. py:method:: getNodes()

      Returns the start and goal trees' node vectors, for visualization purposes.