SE2WithControlsPath

class unified_planning.model.motion.SE2WithControlsPath(path: List[Tuple[SE2, float, float, float]])[source]

Bases: Path

This class represents a ReedsShepp Path. It is composed of a list of tuple where: - the first element is the waypoint (e.g., pose of the robot in N-d space); - the second element is the linear velocity to be applied at that waypoint. - the third element is the angular velocity to be applied at that waypoint. - the fourth element is the duration of the applied control.

path: List[Tuple[SE2, float, float, float]]