RPP

python_motion_planning.local_planner.rpp.RPP

Bases: LocalPlanner

Class for RPP 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'
**params		other parameters can be found in the parent class LocalPlanner	{}

Examples:

Python Console Session

>>> from python_motion_planning.utils import Grid
>>> from python_motion_planning.local_planner import RPP
>>> start = (5, 5, 0)
>>> goal = (45, 25, 0)
>>> env = Grid(51, 31)
>>> planner = RPP(start, goal, env)
>>> planner.run()

applyCurvatureConstraint(raw_linear_vel, curvature)

Applying curvature constraints to regularize the speed of robot turning.

Parameters:

Name	Type	Description	Default
raw_linear_vel	float	the raw linear velocity of robot	required
curvature	float	the tracking curvature	required

Returns:

Name	Type	Description
reg_vel	float	the regulated velocity

applyObstacleConstraint(raw_linear_vel)

Applying obstacle constraints to regularize the speed of robot approaching obstacles.

Parameters:

Name	Type	Description	Default
raw_linear_vel	float	the raw linear velocity of robot	required

Returns:

Name	Type	Description
reg_vel	float	the regulated velocity

plan()

RPP motion plan function.

Returns:

Name	Type	Description
flag	bool	planning successful if true else failed
pose_list	list	history poses of robot
lookahead_pts	list	history lookahead points

run()

Running both plannig and animation.