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rmoan2
db-guided-mrmp
Commits
f5f434fe
Commit
f5f434fe
authored
1 month ago
by
rachelmoan
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add obstacle tolerance to the plan decoupled path function
parent
b9759e4a
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guided_mrmp/utils/helpers.py
+2
-2
2 additions, 2 deletions
guided_mrmp/utils/helpers.py
with
2 additions
and
2 deletions
guided_mrmp/utils/helpers.py
+
2
−
2
View file @
f5f434fe
...
...
@@ -57,10 +57,10 @@ def initialize_libraries(library_fnames=["guided_mrmp/database/2x3_library","gui
return
lib_2x3
,
lib_3x3
,
lib_2x5
def
plan_decoupled_path
(
solver_name
,
start
,
goal
,
env
,
robot_radius
,
circle_obs
,
rectangle_obs
,
vis
=
False
,
iter
=
100
):
def
plan_decoupled_path
(
solver_name
,
start
,
goal
,
env
,
robot_radius
,
circle_obs
,
rectangle_obs
,
vis
=
False
,
iter
=
100
,
obstacle_tol
=
0
):
x_bounds
=
env
.
boundary
[
0
]
y_bounds
=
env
.
boundary
[
1
]
space
=
CircleRectangleObstacleCSpace
(
x_bounds
,
y_bounds
,
robot_radius
)
space
=
CircleRectangleObstacleCSpace
(
x_bounds
,
y_bounds
,
robot_radius
,
obstacle_tol
)
for
obs
in
circle_obs
:
space
.
addObstacle
(
Circle
(
obs
[
0
],
obs
[
1
],
obs
[
2
]))
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