change Planner class to PlannerBase

Author: petercorke

roboticstoolbox/mobile/Bug2.py

@@ -13,9 +13,9 @@
 from matplotlib import cm
 import matplotlib.pyplot as plt
 from matplotlib import animation
-from roboticstoolbox.mobile.Planner import Planner
+from roboticstoolbox.mobile.PlannerBase import PlannerBase
 
-class Bug2(Planner):
+class Bug2(PlannerBase):
     """
     Construct a Bug2 reactive navigator
 

roboticstoolbox/mobile/CurvaturePolyPlanner.py

@@ -5,7 +5,7 @@
 import numpy as np
 import matplotlib.pyplot as plt
 from collections import namedtuple
-from roboticstoolbox.mobile.Planner import Planner
+from roboticstoolbox.mobile.PlannerBase import PlannerBase
 
 
 def solvepath(poly, s_f, x0=[0, 0, 0], **kwargs):
@@ -44,7 +44,7 @@ def costfunc(unknowns, start, goal, curvature):
         e += 0.1 * (maxcurvature - curvature)
     # print(e, path[:, -1], np.r_[goal])
     return e
-class CurvaturePolyPlanner(Planner):
+class CurvaturePolyPlanner(PlannerBase):
 
     r"""
     Curvature polynomial planner

roboticstoolbox/mobile/DistanceTransformPlanner.py

@@ -15,10 +15,10 @@
 from scipy.ndimage import *
 import matplotlib.pyplot as plt
 from matplotlib import cm
-from roboticstoolbox.mobile.Planner import Planner
+from roboticstoolbox.mobile.PlannerBase import PlannerBase
 
 
-class DistanceTransformPlanner(Planner):
+class DistanceTransformPlanner(PlannerBase):
     r"""
     Distance transform path planner
 

roboticstoolbox/mobile/DstarPlanner.py

@@ -15,9 +15,10 @@
 import matplotlib.pyplot as plt
 import numpy as np
 import matplotlib.cm as cm
-from roboticstoolbox.mobile.Planner import Planner
+from roboticstoolbox.mobile.PlannerBase import PlannerBase
 from roboticstoolbox.mobile.OccGrid import OccupancyGrid
 import heapq
+import bisect
 import math
 
 show_animation = True
@@ -287,7 +288,7 @@ def modify_cost(self, x, newcost):
     #                 print(f"({par.x},{par.y}) ", end='')
     #         print()
     #     print()
-class DstarPlanner(Planner):
+class DstarPlanner(PlannerBase):
     r"""
     D* path planner
 

roboticstoolbox/mobile/DubinsPlanner.py

@@ -21,7 +21,7 @@
 """
 import math
 from collections import namedtuple
-from roboticstoolbox.mobile.Planner import Planner
+from roboticstoolbox.mobile import PlannerBase
 
 import matplotlib.pyplot as plt
 import numpy as np
@@ -87,7 +87,6 @@ def left_straight_right(alpha, beta, d):
 
     return t, p, q, mode
 
-
 def right_straight_left(alpha, beta, d):
     sa = math.sin(alpha)
     sb = math.sin(beta)
@@ -305,7 +304,7 @@ def path_planning(start, goal, curvature, step_size=0.1):
     return path, length, mode, lengths
 
 # ============================================================================
-class DubinsPlanner(Planner):
+class DubinsPlanner(PlannerBase):
     r"""
     Dubins path planner
 

roboticstoolbox/mobile/LatticePlanner.py

@@ -3,8 +3,8 @@
 from spatialmath import SE2
 import matplotlib.pyplot as plt
 import itertools
-from roboticstoolbox.mobile.Planner import Planner
 from roboticstoolbox.mobile.OccGrid import OccupancyGrid
+from roboticstoolbox.mobile.PlannerBase import PlannerBase
 from collections import namedtuple
 
 def make_arc(dir, radius=1, npoints=20):
@@ -57,7 +57,7 @@ def plot(self, **kwargs):
         plt.plot(xy[0, :], xy[1, :], **kwargs)
 
 
-class LatticePlanner(Planner):
+class LatticePlanner(PlannerBase):
     """
     Lattice planner
 

roboticstoolbox/mobile/PRMPlanner.py

@@ -15,11 +15,11 @@
 from spatialmath.base import animate
 from scipy.ndimage import *
 from matplotlib import cm, pyplot as plt
-from roboticstoolbox.mobile.Planner import Planner
+from roboticstoolbox.mobile.PlannerBase import PlannerBase
 from pgraph import UGraph
 
 
-class PRMPlanner(Planner):
+class PRMPlanner(PlannerBase):
     r"""
     Distance transform path planner