JPS

python_motion_planning.global_planner.graph_search.jps.JPS

Bases: AStar

Class for JPS 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.JPS((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] Online Graph Pruning for Pathfinding On Grid Maps

detectForceNeighbor(node, motion)

Detect forced neighbor of node.

Parameters:

Name	Type	Description	Default
node	Node	current node	required
motion	Node	the motion that current node executes	required

Returns:

Name	Type	Description
flag	bool	True if current node has forced neighbor else Flase

jump(node, motion)

Jumping search recursively.

Parameters:

Name	Type	Description	Default
node	Node	current node	required
motion	Node	the motion that current node executes	required

Returns:

Name	Type	Description
jump_point	Node	jump point or None if searching fails

plan()

JPS motion plan function.

Returns:

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