Module replanner :: Class Replanner

Class Replanner

sm.SM --+
        |
       Replanner

This replanner state machine has a fixed map, which it constructs at initialization time. Input to the machine is an instance of io.SensorInput; output is an instance of util.Point, representing the desired next subgoal. The planner should guarantee that a straight-line path from the current pose to the output pose is collision-free.

Instance Methods

__init__(self, goalPoint, worldPath, gridSquareSize, mapClass)

getNextValues(self, state, inp)
Default version of this method.

Inherited from sm.SM: check, doTraceTasks, done, getStartState, guaranteeName, isDone, printDebugInfo, run, start, step, transduce, transduceF

Class Variables
Inherited from `sm.SM`: `legalInputs`, `name`, `startState`

Method Details

init(self, goalPoint, worldPath, gridSquareSize, mapClass)
(Constructor)

Parameters:

goalPoint - instance of util.Point, representing the desired robot location in odometry coordinates.
worldPath - pathname of a file containing a soar world description, which will be used to construct the gridmap for planning
gridSquareSize - size of the grid squares in the map to be constructed
mapClass - a subclass of gridMap.GridMap; it needs to take a path and a grid square size as input in its initializer.

getNextValues(self, state, inp)

Default version of this method. If a subclass only defines getNextState, then we assume that the output of the machine is the same as its next state.

Overrides: sm.SM.getNextValues: (inherited documentation)

Class Replanner

__init__(self, goalPoint, worldPath, gridSquareSize, mapClass) (Constructor)

getNextValues(self, state, inp)

init(self, goalPoint, worldPath, gridSquareSize, mapClass)
(Constructor)