lattice_primitives.lattice_generator.LatticeGenerator Class Reference

Classes
class	Flip
class	MotionModel

Public Member Functions
def	__init__ (self, ConfigDict config)
Dict[float, List[Trajectory]]	run (self)

Public Attributes
	trajectory_generator
	grid_resolution
	turning_radius
	stopping_threshold
	num_of_headings
	headings
	motion_model
	DISTANCE_THRESHOLD
	ROTATION_THRESHOLD

Detailed Description

Handles all the logic for computing the minimal control set.

Computes the minimal control set for a vehicle given its parameters.
Includes handling the propagating and searching along wavefronts as
well as determining if a trajectory is part of the minimal set based
on previously added trajectories.

Definition at line 35 of file lattice_generator.py.

Constructor & Destructor Documentation

__init__()

def lattice_primitives.lattice_generator.LatticeGenerator.__init__	(		self,
		ConfigDict	config
	)

Init the lattice generator from the user supplied config.

Definition at line 59 of file lattice_generator.py.

References lattice_primitives.lattice_generator.LatticeGenerator._add_horizontal_motions(), lattice_primitives.lattice_generator.LatticeGenerator._add_in_place_turns(), lattice_primitives.lattice_generator.LatticeGenerator._compute_min_trajectory_length(), lattice_primitives.lattice_generator.LatticeGenerator._create_complete_minimal_spanning_set(), lattice_primitives.lattice_generator.LatticeGenerator._flip_angle(), lattice_primitives.lattice_generator.LatticeGenerator._get_heading_discretization(), lattice_primitives.lattice_generator.LatticeGenerator._get_wave_front_points(), lattice_primitives.lattice_generator.LatticeGenerator._is_minimal_trajectory(), lattice_primitives.lattice_generator.LatticeGenerator._point_to_line_distance(), lattice_primitives.lattice_generator.LatticeGenerator.DISTANCE_THRESHOLD, nav2_smac_planner::LatticeMetadata.grid_resolution, lattice_primitives.lattice_generator.LatticeGenerator.grid_resolution, lattice_primitives.lattice_generator.LatticeGenerator.headings, mppi::CriticData.motion_model, nav2_smac_planner::HybridMotionTable.motion_model, nav2_smac_planner::LatticeMotionTable.motion_model, nav2_smac_planner::LatticeMetadata.motion_model, lattice_primitives.lattice_generator.LatticeGenerator.motion_model, mppi::MotionModel.MotionModel(), lattice_primitives.lattice_generator.LatticeGenerator.num_of_headings, lattice_primitives.lattice_generator.LatticeGenerator.ROTATION_THRESHOLD, lattice_primitives.lattice_generator.LatticeGenerator.stopping_threshold, lattice_primitives.lattice_generator.LatticeGenerator.trajectory_generator, nav2_smac_planner::MotionPrimitive.turning_radius, lattice_primitives.lattice_generator.LatticeGenerator.turning_radius, and lattice_primitives.trajectory_generator.TrajectoryGenerator.turning_radius.

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Member Function Documentation

run()

Dict[float, List[Trajectory]] lattice_primitives.lattice_generator.LatticeGenerator.run

(

self

)

Run the lattice generator.

Returns
-------
dict
    The minimal spanning set including additional motions for the
    specified motion model

Definition at line 750 of file lattice_generator.py.

References lattice_primitives.lattice_generator.LatticeGenerator._generate_minimal_spanning_set(), and lattice_primitives.lattice_generator.LatticeGenerator._handle_motion_model().

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The documentation for this class was generated from the following file:

• nav2_smac_planner/lattice_primitives/lattice_generator.py