shasta.primitives.path_planning
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Module Contents#
Classes#
Path planner based on the skeleton of the image. |
- class PathPlanning(env_map)[source]#
Bases:
object
Path planner based on the skeleton of the image. Generates a spline path
- linear_refine_implicit(x, n)[source]#
Given a 2D ndarray (npt, m) of npt coordinates in m dimension, insert 2**(n-1) additional points on each trajectory segment Returns an (npt*2**(n-1), m) ndarray
- Parameters:
x (array) – A 2D input array
n (int) – Number of intermediate points to insert between two consecutive points in x
- Returns:
An array with interploated points
- Return type:
array
- Raises:
NotImplementedError – The functions is not implemented for 3D or higher dimensions
ValueError – Number of intermediate points should be greated than zero
- find_path(start, end, n_splits=1)[source]#
Finds a path between start and end using path graph
- Parameters:
start (array) – A cartesian co-ordinate specifying the start position
end (array) – A node ID specifying the end position
n_splits (int, optional) – Number of splits in refining the path points, by default 1
- Returns:
path_points – A refined path points in pybullet cartesian co-ordinate system
- Return type:
array