pyrcf.components.global_planners

Module containing interface and definitions of global planners (and ui reference generators) that can be used in the control loop.

Subpackages

• pyrcf.components.global_planners.ui_reference_generators

Submodules

• pyrcf.components.global_planners.global_planner_base

Classes

GlobalMotionPlannerBase

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

Package Contents

class pyrcf.components.global_planners.GlobalMotionPlannerBase

Bases: 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.

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:

GlobalMotionPlan