rrt
===

.. py:module:: rrt


Submodules
----------

.. toctree::
   :maxdepth: 1

   /autoapi/rrt/_rrt_ext/index


Classes
-------

.. autoapisummary::

   rrt.Node
   rrt.RRTOptions
   rrt.RRT


Functions
---------

.. autoapisummary::

   rrt.visualizeTree


Package 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, collision_check_use_bisection = False, 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:: collision_check_use_bisection
      :type: bool


      If true, uses bisection instead of linear search 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.



.. py:function:: visualizeTree(viz, scene, rrt, frame_names, max_step_size, start_tree_color = (0, 100, 100), start_tree_name = '/rrt/start_tree', goal_tree_color = (100, 0, 100), goal_tree_name = '/rrt/goal_tree')

   Helper function to visualize the start and goal trees from an RRT planner.

   :param viz: The Viser visualizer instance.
   :param scene: The scene instance.
   :param rrt: The RRT planner instance.
   :param frame_names: List of frame names to use for forward kinematics.
   :param max_step_size: The maximum step size between joint configurations when interpolating paths.
   :param start_tree_color: The color of the rendered start tree.
   :param start_tree_name: The name of the start tree in Viser.
   :param goal_tree_color: The color of the rendered goal tree.
   :param goal_tree_name: The name of the goal tree in Viser.