GraphSearcher

python_motion_planning.global_planner.graph_search.graph_search.GraphSearcher

Bases: Planner

Base class for planner based on graph searching.

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'

cost(node1, node2)

Calculate cost for this motion.

Parameters:

Name	Type	Description	Default
node1	Node	node 1	required
node2	Node	node 2	required

Returns:

Name	Type	Description
cost	float	cost of this motion

h(node, goal)

Calculate heuristic.

Parameters:

Name	Type	Description	Default
node	Node	current node	required
goal	Node	goal node	required

Returns:

Name	Type	Description
h	float	heuristic function value of node

isCollision(node1, node2)

Judge collision when moving from node1 to node2.

Parameters:

Name	Type	Description	Default
node1	Node	node 1	required
node2	Node	node 2	required

Returns:

Name	Type	Description
collision	bool	True if collision exists else False