pyrcf.components.global_planners.global_planner_base
====================================================

.. py:module:: pyrcf.components.global_planners.global_planner_base


Classes
-------

.. autoapisummary::

   pyrcf.components.global_planners.global_planner_base.GlobalMotionPlannerBase


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

.. py:class:: GlobalMotionPlannerBase

   Bases: :py:obj:`pyrcf.components.pyrcf_component.PyRCFComponent`


   Simple protocol and base class for a global motion planner interface.

   This protocol has to be respected by all classes that generate a GlobalMotionPlan object
   to be used in the control loop by local planners. (e.g. user interfaces such as
   keyboard_interface).

   INFO: A general 'global motion planner' is a planner that performs high-level planning that is
       dependent on the task the robot has to perform. For e.g. for a A->B locomotion, the global
       planner might generate a sequence of collision-aware waypoints for the local planner to
       respect.


   .. py:method:: generate_global_plan(robot_state: pyrcf.core.types.RobotState, t: float, dt: float) -> pyrcf.core.types.GlobalMotionPlan
      :abstractmethod:


      Generate a global motion plan message.

      :param robot_state: Current robot state.
      :type robot_state: RobotState
      :param t: the current time signature of the control loop.
      :type t: float, optional
      :param dt: the time since the last control loop.
      :type dt: float, optional

      :returns: Output global plan to be sent to local planner in the control loop.
      :rtype: GlobalMotionPlan