Pathfinding

Auto-generated documentation for pathplannerlib.pathfinding module.

class Pathfinding: ...

Ensure that a pathfinding implementation has been chosen. If not, set it to the default.

@staticmethod
def ensureInitialized() -> None: ...

Get the most recently calculated path

The PathPlannerPath created from the points calculated by the pathfinder

@staticmethod
def getCurrentPath(
    constraints: PathConstraints, goal_end_state: GoalEndState
) -> PathPlannerPath: ...

Get if a new path has been calculated since the last time a path was retrieved

True if a new path is available

@staticmethod
def isNewPathAvailable() -> bool: ...

Set the dynamic obstacles that should be avoided while pathfinding.

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

@staticmethod
def setDynamicObstacles(
    obs: List[Tuple[Translation2d, Translation2d]], current_robot_pos: Translation2d
) -> None: ...

Set the goal position to pathfind to

goal_position - Goal position on the field. f this is within an obstacle it will be moved to the nearest non-obstacle node.

@staticmethod
def setGoalPosition(goal_position: Translation2d) -> None: ...

Set the pathfinder that should be used by the path following commands

@staticmethod
def setPathfinder(pathfinder: Pathfinder) -> None: ...

Set the start position to pathfind from

start_position - Start position on the field. If this is within an obstacle it will be moved to the nearest non-obstacle node.

@staticmethod
def setStartPosition(start_position: Translation2d) -> None: ...