Dijkstra

src.python_motion_planning.global_planner.graph_search.dijkstra.Dijkstra

Bases: AStar

Source code in src\python_motion_planning\global_planner\graph_search\dijkstra.py

Python

class Dijkstra(AStar):
    def __init__(self, start: tuple, goal: tuple, env: Env, heuristic_type: str = "euclidean") -> None:
        super().__init__(start, goal, env, heuristic_type)

    def __str__(self) -> str:
        return "Dijkstra"

    def plan(self) -> tuple:
        """
        Class for Dijkstra motion planning.

        Parameters:
            start (tuple): start point coordinate
            goal (tuple): goal point coordinate
            env (Env): environment
            heuristic_type (str): heuristic function type

        Examples:
            >>> import python_motion_planning as pmp
            >>> planner = pmp.Dijkstra((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
        """
        # OPEN list (priority queue) and CLOSED list (hash table)
        OPEN = []
        heapq.heappush(OPEN, self.start)
        CLOSED = dict()

        while OPEN:
            node = heapq.heappop(OPEN)

            # exists in CLOSED list
            if node.current in CLOSED:
                continue

            # goal found
            if node == self.goal:
                CLOSED[node.current] = node
                cost, path = self.extractPath(CLOSED)
                return cost, path, list(CLOSED.values())

            for node_n in self.getNeighbor(node):

                # hit the obstacle
                if node_n.current in self.obstacles:
                    continue

                # exists in CLOSED list
                if node_n.current in CLOSED:
                    continue

                node_n.parent = node.current
                node_n.h = 0

                # goal found
                if node_n == self.goal:
                    heapq.heappush(OPEN, node_n)
                    break

                # update OPEN set
                heapq.heappush(OPEN, node_n)

            CLOSED[node.current] = node
        return [], [], []

plan()

Class for Dijkstra 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	required

Examples:

Python Console Session

>>> import python_motion_planning as pmp
>>> planner = pmp.Dijkstra((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

Source code in src\python_motion_planning\global_planner\graph_search\dijkstra.py

Python

def plan(self) -> tuple:
    """
    Class for Dijkstra motion planning.

    Parameters:
        start (tuple): start point coordinate
        goal (tuple): goal point coordinate
        env (Env): environment
        heuristic_type (str): heuristic function type

    Examples:
        >>> import python_motion_planning as pmp
        >>> planner = pmp.Dijkstra((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
    """
    # OPEN list (priority queue) and CLOSED list (hash table)
    OPEN = []
    heapq.heappush(OPEN, self.start)
    CLOSED = dict()

    while OPEN:
        node = heapq.heappop(OPEN)

        # exists in CLOSED list
        if node.current in CLOSED:
            continue

        # goal found
        if node == self.goal:
            CLOSED[node.current] = node
            cost, path = self.extractPath(CLOSED)
            return cost, path, list(CLOSED.values())

        for node_n in self.getNeighbor(node):

            # hit the obstacle
            if node_n.current in self.obstacles:
                continue

            # exists in CLOSED list
            if node_n.current in CLOSED:
                continue

            node_n.parent = node.current
            node_n.h = 0

            # goal found
            if node_n == self.goal:
                heapq.heappush(OPEN, node_n)
                break

            # update OPEN set
            heapq.heappush(OPEN, node_n)

        CLOSED[node.current] = node
    return [], [], []