simplenavigation Module
Shows how to use RRTs for navigation planning by setting affine degrees of freedom.
Running the Example:
openrave.py --example simplenavigation
Command-line
Usage: openrave.py [options]
Simple navigation planning using RRTs.
Options:
-h, --help show this help message and exit
--scene=SCENE Scene file to load (default=data/lab1.env.xml)
OpenRAVE Environment Options:
--loadplugin=_LOADPLUGINS
List all plugins and the interfaces they provide.
--collision=_COLLISION
Default collision checker to use
--physics=_PHYSICS physics engine to use (default=none)
--viewer=_VIEWER viewer to use (default=qtcoin)
--server=_SERVER server to use (default=None).
--serverport=_SERVERPORT
port to load server on (default=4765).
--module=_MODULES module to load, can specify multiple modules. Two
arguments are required: "name" "args".
-l _LEVEL, --level=_LEVEL, --log_level=_LEVEL
Debug level, one of
(fatal,error,warn,info,debug,verbose,verifyplans)
--testmode if set, will run the program in a finite amount of
time and spend computation time validating results.
Used for testing
Main Python Code
def main(env,options):
"Main example code."
env.Load(options.scene)
robot = env.GetRobots()[0]
env.UpdatePublishedBodies()
time.sleep(0.1) # give time for environment to update
self = SimpleNavigationPlanning(robot)
self.performNavigationPlanning()
Class Definitions
-
class openravepy.examples.simplenavigation.SimpleNavigationPlanning(robot, randomize=False, dests=None, switchpatterns=None)[ソース]
-
performNavigationPlanning()[ソース]
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openravepy.examples.simplenavigation.main(env, options)[ソース]
Main example code.
-
openravepy.examples.simplenavigation.run(*args, **kwargs)[ソース]
Command-line execution of the example.
パラメタ: | args – arguments for script to parse, if not specified will use sys.argv |