rrt._rrt_ext
Classes
Defines a graph node for search-based planners. |
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Options struct for RRT planner. |
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Motion planner based on the Rapidly-exploring Random Tree (RRT) algorithm. |
Module Contents
- class rrt._rrt_ext.Node(config, parent_id)
Defines a graph node for search-based planners.
- Parameters:
config (Annotated[numpy.typing.NDArray[numpy.float64], dict(shape=(None, ), order='C')])
parent_id (int)
- property config: Annotated[numpy.typing.NDArray[numpy.float64], dict(shape=None, order='C')]
The configuration (e.g., joint positions) of this node.
- Return type:
Annotated[numpy.typing.NDArray[numpy.float64], dict(shape=(None, ), order=’C’)]
- property parent_id: int
The parent node ID.
- Return type:
int
- class rrt._rrt_ext.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.
- Parameters:
group_name (str)
max_nodes (int)
max_connection_distance (float)
collision_check_step_size (float)
collision_check_use_bisection (bool)
goal_biasing_probability (float)
max_planning_time (float)
rrt_connect (bool)
- property group_name: str
The joint group name to be used by the planner.
- Return type:
str
- property max_nodes: int
The maximum number of nodes to sample.
- Return type:
int
- property max_connection_distance: float
The maximum configuration distance between two nodes.
- Return type:
float
- property collision_check_step_size: float
The configuration-space step size for collision checking along edges.
- Return type:
float
- property collision_check_use_bisection: bool
If true, uses bisection instead of linear search for collision checking along edges.
- Return type:
bool
- property goal_biasing_probability: float
The probability of sampling the goal node instead of a random node.
- Return type:
float
- property max_planning_time: float
The maximum amount of time to allow for planning, in seconds.
- Return type:
float
- property rrt_connect: bool
If true, use the RRT-Connect algorithm to grow the search trees.
- Return type:
bool
- class rrt._rrt_ext.RRT(scene, options)
Motion planner based on the Rapidly-exploring Random Tree (RRT) algorithm.
- Parameters:
scene (roboplan.core._core_ext.Scene)
options (RRTOptions)
- plan(start, goal)
Plan a path from start to goal.
- Parameters:
start (roboplan.core._core_ext.JointConfiguration)
goal (roboplan.core._core_ext.JointConfiguration)
- Return type:
roboplan.core._core_ext.JointPath
- setRngSeed(seed)
Sets the seed for the random number generator (RNG).
- Parameters:
seed (int)
- Return type:
None