LazyThetaStar

python_motion_planning.global_planner.graph_search.lazy_theta_star.LazyThetaStar

Bases: ThetaStar

Class for Lazy Theta* 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.LazyThetaStar((5, 5), (45, 25), pmp.Grid(51, 31))
>>> cost, path, expand = planner.plan()
>>> planner.plot.animation(path, str(planner), cost, expand)  # animation
>>> planner.run()       # run both planning and animation

References

[1] Lazy Theta*: Any-Angle Path Planning and Path Length Analysis in 3D

plan()

Lazy Theta* motion plan function.

Returns:

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

updateVertex(node_p, node_c)

Update extend node information with current node's parent node.

Parameters:

Name	Type	Description	Default
node_p	Node	parent node	required
node_c	Node	current node	required