check_path_to_goal()
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check_path_to_goal()
- 1 Minute to read
Article summary
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Check if there is a path to a given coordinate.
Reference
Arguments
| Arguments | Type | Default value | Description |
|---|---|---|---|
| x | float | X-coordinate of the goal. | |
| y | float | Y-coordinate of the goal. | |
| in_map_coordinates | bool | False | Whether the coordinates are in map coordinates or pixels. |
Return
| Type | Description |
|---|---|
bool | Value indicating whether there is path to goal. |
Exceptions
RayaNavNotLocatedRayaNavNoMapLoadedRayaNavUnkownError
See the complete list of navigation exceptions.
Usage Example
...
class RayaApplication(RayaApplicationBase):
async def setup(self):
self.nav = await self.enable_controller('navigation')
self.costmap_image, self.map_info = await self.nav.get_costmap()
....
async def loop(self):
....
path_to_zero_position = await self.navigation.check_path_to_goal(
x=0.0,
y=0.0,
in_map_coordinates=True
)
self.log.info((
'Exists path to zero coordinate ='
f'{path_to_zero_position}'
))
...
async def finish(self):
...
See the nav_all_unity_apartment to check some valid uses.
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