irsim.lib.path_planners.grid_planner_base
=========================================

.. py:module:: irsim.lib.path_planners.grid_planner_base

.. autoapi-nested-parse::

   Shared grid geometry for the occupancy-grid planners (A*, JPS).



Classes
-------

.. autoapisummary::

   irsim.lib.path_planners.grid_planner_base.GridPlannerBase


Module Contents
---------------

.. py:class:: GridPlannerBase(env_map: irsim.world.map.EnvGridMap)

   Bounds, resolution, and grid shape derived from an environment map.

   Both :class:`~irsim.lib.path_planners.a_star.AStarPlanner` and
   :class:`~irsim.lib.path_planners.jps.JPSPlanner` search the same discrete
   grid, so they derive their search space the same way.

   Derive the search grid from an environment map.

   :param env_map: Environment map (any :class:`~irsim.world.map.EnvGridMap`
                   compatible object).


   .. py:attribute:: obstacle_list


   .. py:attribute:: origin_x


   .. py:attribute:: origin_y


   .. py:attribute:: max_x


   .. py:attribute:: max_y