AStar

python_motion_planning.global_planner.graph_search.a_star.AStar

Bases: GraphSearcher

Class for A* motion planning.

Parameters:

Name	Type	Description	Default
start	tuple	start point coordinate	required
goal	tuple	goal point coordinate	required
env	Env	environment	required
heuristic_type	str	heuristic function type	'euclidean'

Examples:

Python Console Session

>>> import python_motion_planning as pmp
>>> planner = pmp.AStar((5, 5), (45, 25), pmp.Grid(51, 31))
>>> cost, path, expand = planner.plan()     # planning results only
>>> planner.plot.animation(path, str(planner), cost, expand)  # animation
>>> planner.run()       # run both planning and animation

References

[1] A Formal Basis for the heuristic Determination of Minimum Cost Paths

extractPath(closed_list)

Extract the path based on the CLOSED list.

Parameters:

Name	Type	Description	Default
closed_list	dict	CLOSED list	required

Returns:

Name	Type	Description
cost	float	the cost of planned path
path	list	the planning path

getNeighbor(node)

Find neighbors of node.

Parameters:

Name	Type	Description	Default
node	Node	current node	required

Returns:

Name	Type	Description
neighbors	list	neighbors of current node

plan()

A* motion plan function.

Returns:

Name	Type	Description
cost	float	path cost
path	list	planning path
expand	list	all nodes that planner has searched

run()

Running both planning and animation.