habitat_sim.nav.MultiGoalShortestPath class

Struct for multi-goal shortest path finding. Used in conjunction with PathFinder.findPath().

Special methods

def __init__(self, /) -> None

Properties

closest_end_point_index: int get set

The index of the closest end point corresponding to end of the shortest path. Will be -1 if no path exists.

geodesic_distance: float get set

The total geodesic distance of the path. Will be inf if no path exists.

points: typing.List[numpy.ndarray[numpy.float32[3, 1]]] get set

A list of points that specify the shortest path on the navigation mesh between requestedStart and the closest (by geodesic distance) point in requestedEnds. Will be empty if no path exists.

requested_ends: typing.List[numpy.ndarray[numpy.float32[3, 1]]] get set

The list of desired potential end points.

requested_start: numpy.ndarray[numpy.float32[3, 1]] get set

The starting point for the path.