Dijkstra

python_motion_planning.global_planner.graph_search.dijkstra.Dijkstra

Bases: AStar

plan()

Class for Dijkstra 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	required

Examples:

Python Console Session

>>> import python_motion_planning as pmp
>>> planner = pmp.Dijkstra((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