======================== The paths module ======================== Paths is an abstraction module for construction of paths and trajectories on a 3D space with constraints. Volumes can be defined using Pyrame's or custom functions. These volumes can then be used either to define forbidden zones or matrices. Volumes are created using the :py:func:`init_volume_paths ` function, which registers the volume in a pool. Then, they can be used to define a forbidden region of space (:py:func:`add_limits_space_paths `) or a path (:py:func:`init_path_paths `). Both the function :py:func:`move_space_paths ` and :py:func:`move_next_paths` will move in space avoiding forbidden volumes. An A-star (A*) algorithm is used from one point to another on both functions. .. warning:: The complexity of the A-star path finding problem increases rapidly with decreasing values of the minimum steps (r1,r2,r3). Keep them to the largest value required on your experiment. API === .. automodule:: cmd_paths :members: :member-order: bysource