Module replanner :: Class ReplannerWithDynamicMapAndGoal

Class ReplannerWithDynamicMapAndGoal

sm.SM --+
        |
       ReplannerWithDynamicMapAndGoal

This replanner state machine has a dynamic map and a dynamic goal, both of which are inputs to the state machine. Input to the machine is a structure (goal, (map, sensors)), where map is an instance of a subclass of gridMap.GridMap, goal is an instance of util.Point, and sensors 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 in the current map.

Instance Methods

__init__(self, useCostDynamics=False)

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, useCostDynamics=False)
(Constructor)

Parameters:

useCostDynamics - if True, use gridDynamics.GridCostDynamicsSM (which penalizes motion through cells according to the likelihood that they are occupied), otherwise, use gridDynamics.GridDynamics which only allows motion through cells that are marked occupiable, and uses step length as a cost.

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 ReplannerWithDynamicMapAndGoal

__init__(self, useCostDynamics=False) (Constructor)

getNextValues(self, state, inp)

init(self, useCostDynamics=False)
(Constructor)