pybullet_planning.motion_planners.rrt_connect.birrt

pybullet_planning.motion_planners.rrt_connect.birrt(start, goal, distance_fn, sample_fn, extend_fn, collision_fn, **kwargs)

Parameters

• start – Start configuration - conf

• goal – End configuration - conf

• distance_fn – Distance function - distance_fn(q1, q2)->float

• sample_fn – Sample function - sample_fn()->conf

• extend_fn – Extension function - extend_fn(q1, q2)->[q’, …, q”]

• collision_fn – Collision function - collision_fn(q)->bool

• kwargs – Keyword arguments

Returns

Path [q’, …, q”] or None if unable to find a solution