curobo.graph.prm module

class curobo.graph.prm.PRMStar(config)

Bases: GraphPlanBase

Parameters:

config (GraphConfig) –

_find_paths(x_init_batch, x_goal_batch, all_paths=False)
_add_bias_graph(x_init_batch, x_goal_batch, node_set_batch, node_set)
_find_one_path(x_init_batch, x_goal_batch)

Find path from a batch of initial and goal configs

Parameters:
  • x_init ([type]) – batch of start

  • x_goal ([type]) – batch of goal

  • return_path_lengths (bool, optional) – [description]. Defaults to False.

Returns:

b, h, dof

Return type:

[type]

_find_all_path(x_init_batch, x_goal_batch)

Find path from a batch of initial and goal configs

Parameters:
  • x_init ([type]) – batch of start

  • x_goal ([type]) – batch of goal

  • return_path_lengths (bool, optional) – [description]. Defaults to False.

Returns:

b, h, dof

Return type:

[type]

build_graph(x_start=None, x_goal=None, number_of_nodes=None, lazy=False, bias_samples=False, k_nn=5, c_max=10, c_min=1, lazy_nodes=False)
warmup(x_start=None, x_goal=None)
Parameters:
  • x_start (Tensor | None) –

  • x_goal (Tensor | None) –