Pathfinders
pathplannerlib Index / Pathplannerlib / Pathfinders
Auto-generated documentation for pathplannerlib.pathfinders module.
GridPosition
Show source in pathfinders.py:171
Signature
GridPosition().compareTo
Show source in pathfinders.py:181
Signature
LocalADStar
Show source in pathfinders.py:189
Signature
See also
LocalADStar().getCurrentPath
Show source in pathfinders.py:287
Get the most recently calculated path
Arguments
constraints
- The path constraints to use when creating the pathgoal_end_state
- The goal end state to use when creating the path
Returns
The PathPlannerPath created from the points calculated by the pathfinder
Signature
def getCurrentPath(
self, constraints: PathConstraints, goal_end_state: GoalEndState
) -> Union[PathPlannerPath, None]: ...
LocalADStar().isNewPathAvailable
Show source in pathfinders.py:279
Get if a new path has been calculated since the last time a path was retrieved
Returns
True if a new path is available
Signature
LocalADStar().setDynamicObstacles
Show source in pathfinders.py:341
Set the dynamic obstacles that should be avoided while pathfinding.
Arguments
obs
- A List of Translation2d pairs representing obstacles. Each Translation2d represents opposite corners of a bounding box.current_robot_pos
- The current position of the robot. This is needed to change the start position of the path to properly avoid obstacles
Signature
def setDynamicObstacles(
self,
obs: List[Tuple[Translation2d, Translation2d]],
current_robot_pos: Translation2d,
) -> None: ...
LocalADStar().setGoalPosition
Show source in pathfinders.py:323
Set the goal position to pathfind to
Arguments
goal_position
- Goal position on the field. f this is within an obstacle it will be moved to the nearest non-obstacle node.
Signature
LocalADStar().setStartPosition
Show source in pathfinders.py:307
Set the start position to pathfind from
Arguments
start_position
- Start position on the field. If this is within an obstacle it will be moved to the nearest non-obstacle node.
Signature
Pathfinder
Show source in pathfinders.py:19
Signature
Pathfinder().getCurrentPath
Show source in pathfinders.py:28
Get the most recently calculated path
Arguments
constraints
- The path constraints to use when creating the pathgoal_end_state
- The goal end state to use when creating the path
Returns
The PathPlannerPath created from the points calculated by the pathfinder
Signature
def getCurrentPath(
self, constraints: PathConstraints, goal_end_state: GoalEndState
) -> Union[PathPlannerPath, None]: ...
Pathfinder().isNewPathAvailable
Show source in pathfinders.py:20
Get if a new path has been calculated since the last time a path was retrieved
Returns
True if a new path is available
Signature
Pathfinder().setDynamicObstacles
Show source in pathfinders.py:55
Set the dynamic obstacles that should be avoided while pathfinding.
Arguments
obs
- A List of Translation2d pairs representing obstacles. Each Translation2d represents opposite corners of a bounding box.current_robot_pos
- The current position of the robot. This is needed to change the start position of the path to properly avoid obstacles
Signature
def setDynamicObstacles(
self,
obs: List[Tuple[Translation2d, Translation2d]],
current_robot_pos: Translation2d,
) -> None: ...
Pathfinder().setGoalPosition
Show source in pathfinders.py:47
Set the goal position to pathfind to
Arguments
goal_position
- Goal position on the field. f this is within an obstacle it will be moved to the nearest non-obstacle node.
Signature
Pathfinder().setStartPosition
Show source in pathfinders.py:39
Set the start position to pathfind from
Arguments
start_position
- Start position on the field. If this is within an obstacle it will be moved to the nearest non-obstacle node.
Signature
RemoteADStar
Show source in pathfinders.py:66
Signature
See also
RemoteADStar().getCurrentPath
Show source in pathfinders.py:116
Get the most recently calculated path
Arguments
constraints
- The path constraints to use when creating the pathgoal_end_state
- The goal end state to use when creating the path
Returns
The PathPlannerPath created from the points calculated by the pathfinder
Signature
def getCurrentPath(
self, constraints: PathConstraints, goal_end_state: GoalEndState
) -> Union[PathPlannerPath, None]: ...
RemoteADStar().isNewPathAvailable
Show source in pathfinders.py:108
Get if a new path has been calculated since the last time a path was retrieved
Returns
True if a new path is available
Signature
RemoteADStar().setDynamicObstacles
Show source in pathfinders.py:150
Set the dynamic obstacles that should be avoided while pathfinding.
Arguments
obs
- A List of Translation2d pairs representing obstacles. Each Translation2d represents opposite corners of a bounding box.current_robot_pos
- The current position of the robot. This is needed to change the start position of the path to properly avoid obstacles
Signature
def setDynamicObstacles(
self,
obs: List[Tuple[Translation2d, Translation2d]],
current_robot_pos: Translation2d,
) -> None: ...
RemoteADStar().setGoalPosition
Show source in pathfinders.py:142
Set the goal position to pathfind to
Arguments
goal_position
- Goal position on the field. f this is within an obstacle it will be moved to the nearest non-obstacle node.
Signature
RemoteADStar().setStartPosition
Show source in pathfinders.py:134
Set the start position to pathfind from
Arguments
start_position
- Start position on the field. If this is within an obstacle it will be moved to the nearest non-obstacle node.