Commit 3357eaae authored by Pierre Fernbach's avatar Pierre Fernbach
Browse files

[Scripts] AbstractPlanner: add optional argument to solve() to display the roadmap

parent 3877a6ea
...@@ -156,7 +156,7 @@ class AbstractPathPlanner: ...@@ -156,7 +156,7 @@ class AbstractPathPlanner:
else: else:
self.ps.addPathOptimizer("RandomShortcut") self.ps.addPathOptimizer("RandomShortcut")
def solve(self): def solve(self, display_roadmap = False):
""" """
Solve the path planning problem. Solve the path planning problem.
q_init and q_goal must have been defined before calling this method q_init and q_goal must have been defined before calling this method
...@@ -168,7 +168,10 @@ class AbstractPathPlanner: ...@@ -168,7 +168,10 @@ class AbstractPathPlanner:
self.ps.setInitialConfig(self.q_init) self.ps.setInitialConfig(self.q_init)
self.ps.addGoalConfig(self.q_goal) self.ps.addGoalConfig(self.q_goal)
self.v(self.q_init) self.v(self.q_init)
t = self.ps.solve() if display_roadmap and self.v.client.gui.getNodeList() is not None:
t = self.v.solveAndDisplay("roadmap", 5, 0.001)
else:
t = self.ps.solve()
print("Guide planning time : ", t) print("Guide planning time : ", t)
......
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