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PathPlanner(robot_shape: Prism)

Bases: PersistentModule

This module runs a path planning algorithm in a separate process.

If given, the algorithm respects the given robot shape as well as a dictionary of accessible areas and a dictionary of obstacles, both of which a backed up and restored automatically. The path planner can search paths, check if a spline interferes with obstacles and get the distance of a pose to any obstacle.


Name Description
OBSTACLES_CHANGED the obstacles have changed (argument: dictionary of obstacles)
AREAS_CHANGED the areas have changed (argument: list of areas that have changed, can be None for all areas)