irsim.lib.path_planners.grid_planner_base#

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

Classes#

GridPlannerBase

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

Module Contents#

class irsim.lib.path_planners.grid_planner_base.GridPlannerBase(env_map: irsim.world.map.EnvGridMap)[源代码]#

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

Both AStarPlanner and JPSPlanner search the same discrete grid, so they derive their search space the same way.

Derive the search grid from an environment map.

参数:

env_map -- Environment map (any EnvGridMap compatible object).

obstacle_list#
origin_x#
origin_y#
max_x#
max_y#