Base Planner

class pyrobot.algorithms.base_planner.BasePlanner(configs, world, ros_launch_manager=None, robots={}, sensors={}, algorithms={})

Bases: pyrobot.algorithms.algorithm.Algorithm

Base class of Base Planner algorithms.

Specifically, this algorithm handles generating base trajectory and execute the trajectory.

__init__(configs, world, ros_launch_manager=None, robots={}, sensors={}, algorithms={})

Initialize self. See help(type(self)) for accurate signature.

check_cfg()

This function checks required configs shared by all base planner instances in constructor.

Specifically, it checks for:

1. The base planner algorithm handles one robot, and one robot only

2. The robot has a base

For any algorithm specific config checks, please extend the check_cfg function

with customized algorithm config checks after calling this function using super().check_cfg()

get_plan_absolute(x, y, theta)

This function takes in desired x, y, theta position in world frame,

and generate a plan as a list of poses in the world frame

Args:

x: desired translation along x-axis in world frame. Unit: meters. y: desired translation along y-axis in world frame. Unit: meters. theta: desired orientation in world frame. Unit: radius.

Returns:

plan: list of x, y, t points along the planned trajectory (point1, point2, …, pointn)

each of the point would take form that point.pose.position.x, point.pose.position.y, point.pose.position.theta denotes x, y, t position of each point in world frame.

If a plan cannot be generated, this function should raise an error.

move_to_goal(x, y, theta)

This function takes in desired x, y, theta position in world frame,

compute a plan as a list of poses in the world frame, and move the base to the desired pose following the plan

Args:

x: desired translation along x-axis in world frame. Unit: meters. y: desired translation along y-axis in world frame. Unit: meters. theta: desired orientation in world frame. Unit: radius.

Returns:

status: bool. True if the base gets to the target xyt pose; False otherwise.

If a plan cannot be generated or the generated plan cannot be executed, this function should raise an error.