route_network.planner¶

Route network path planner.

class route_network.planner.Edge(end, seg, heuristic=0.0)[source]¶

Edge stores graph edge data for a way point.

Parameters:	end – Index of ending way point. seg – uuid_msgs/UniqueID of corresponding RouteSegment. heuristic – Distance heuristic from start to end (must not be an over-estimate).

exception route_network.planner.NoPathToGoalError[source]¶: Exception raised when there is no path to the goal.

class route_network.planner.Planner(graph)[source]¶

Planner plans a route through a RouteNetwork.

Parameters:	graph – geographic_msgs/RouteNetwork message.

planner(req)[source]¶

Plan route from start to goal.

Parameters:	req – geographic_msgs/GetRoutePlan request message.
Returns:	geographic_msgs/RoutePath message.
Raises :	`ValueError` if invalid request.
Raises :	`NoPathToGoalError` if goal not reachable.

exception route_network.planner.PlannerError[source]¶: Base class for exceptions in this module.