pyrcf.components.global_planners.global_planner_base
Classes
Simple protocol and base class for a global motion planner interface. |
Module Contents
- class pyrcf.components.global_planners.global_planner_base.GlobalMotionPlannerBase
Bases:
pyrcf.components.pyrcf_component.PyRCFComponentSimple 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.
- abstract generate_global_plan(robot_state: pyrcf.core.types.RobotState, t: float, dt: float) pyrcf.core.types.GlobalMotionPlan
Generate a global motion plan message.
- Parameters:
robot_state (RobotState) – Current robot state.
t (float, optional) – the current time signature of the control loop.
dt (float, optional) – the time since the last control loop.
- Returns:
Output global plan to be sent to local planner in the control loop.
- Return type: