Algorithms API

Scope

• omninav/algorithms/base.py

• omninav/algorithms/pipeline.py

• omninav/algorithms/global_base.py

• omninav/algorithms/global_sequential.py

• omninav/algorithms/global_route_opt.py

• omninav/algorithms/global_grid_path.py

• omninav/algorithms/local_planner.py

Architecture

Algorithm stack is split into:

• Global planner: goal scheduling / path generation

• Local planner: obstacle-aware control command generation

• Pipeline: global+local composition and execution

Key classes

AlgorithmBase

Source: base.py

Defines:

• reset(task_info)

• step(obs)

• is_done, info

AlgorithmPipeline

Source: pipeline.py

Responsibilities:

• Run global planner and local planner in one loop

• Pass global goals/path hints into local planner

Global planners

• SequentialGlobalPlanner: global_sequential.py

• RouteOptimizedGlobalPlanner: global_route_opt.py

• GridPathGlobalPlanner: global_grid_path.py

Local planner

• DWAPlanner: local_planner.py

Config references

• configs/algorithm/pipeline_default.yaml

• configs/algorithm/global_sequential.yaml

• configs/algorithm/global_route_opt.yaml

• configs/algorithm/global_grid_path.yaml

• configs/algorithm/local_dwa.yaml