ThetaStar

python_motion_planning.global_planner.graph_search.theta_star.ThetaStar

Bases: AStar

Class for 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.ThetaStar((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] Theta*: Any-Angle Path Planning on Grids [2] Any-angle path planning on non-uniform costmaps

lineOfSight(node1, node2)

Judge collision when moving from node1 to node2 using Bresenham.

Parameters:

Name	Type	Description	Default
node1	Node	start node	required
node2	Node	end node	required

Returns:

Name	Type	Description
line_of_sight	bool	True if line of sight exists ( no collision ) else False

plan()

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