New Planner in Python

[sadiq26]

New Planner in Python

[joao-pm-santos96]

like this?

ompl/demos/RandomWalkPlanner.py

Lines 53 to 102 in 5c3f6fb

	class RandomWalkPlanner(ob.Planner):
	def __init__(self, si):
	super(RandomWalkPlanner, self).__init__(si, "RandomWalkPlanner")
	self.states_ = []
	self.sampler_ = si.allocStateSampler()
	def solve(self, ptc):
	pdef = self.getProblemDefinition()
	goal = pdef.getGoal()
	si = self.getSpaceInformation()
	pi = self.getPlannerInputStates()
	st = pi.nextStart()
	while st:
	self.states_.append(st)
	st = pi.nextStart()
	solution = None
	approxsol = 0
	approxdif = 1e6
	while not ptc():
	rstate = si.allocState()
	# pick a random state in the state space
	self.sampler_.sampleUniform(rstate)
	# check motion
	if si.checkMotion(self.states_[-1], rstate):
	self.states_.append(rstate)
	sat = goal.isSatisfied(rstate)
	dist = goal.distanceGoal(rstate)
	if sat:
	approxdif = dist
	solution = len(self.states_)
	break
	if dist < approxdif:
	approxdif = dist
	approxsol = len(self.states_)
	solved = False
	approximate = False
	if not solution:
	solution = approxsol
	approximate = True
	if solution:
	path = og.PathGeometric(si)
	for s in self.states_[:solution]:
	path.append(s)
	pdef.addSolutionPath(path)
	solved = True
	return ob.PlannerStatus(solved, approximate)
	def clear(self):
	super(RandomWalkPlanner, self).clear()
	self.states_ = []

[zkingston]

This is correct!