planner.py 文件源码

def __init__(self, dynamics, lqr, constraints,
                 horizon, dt=0.05, FPR=0,
                 error_tol=0.05, erf=np.subtract,
                 min_time=0.5, max_time=1, max_nodes=1E5,
                 goal0=None, sys_time=time.time, printing=True):

        self.set_system(dynamics, lqr, constraints, erf)

        self.set_resolution(horizon, dt, FPR, error_tol)

        self.set_runtime(min_time, max_time, max_nodes, sys_time)

        self.set_goal(goal0)

        self.printing = printing
        self.killed = False

#################################################