TravelingSalesman

class wpimath.path.TravelingSalesman(*args, **kwargs)

Bases: pybind11_object

Given a list of poses, this class finds the shortest possible route that visits each pose exactly once and returns to the origin pose.

@see <a href=”https://en.wikipedia.org/wiki/Travelling_salesman_problem”>https://en.wikipedia.org/wiki/Travelling_salesman_problem</a>

Overloaded function.

  1. __init__(self: wpimath._controls._controls.path.TravelingSalesman) -> None

Constructs a traveling salesman problem solver with a cost function defined as the 2D distance between poses.

  1. __init__(self: wpimath._controls._controls.path.TravelingSalesman, cost: Callable[[wpimath.geometry._geometry.Pose2d, wpimath.geometry._geometry.Pose2d], float]) -> None

Constructs a traveling salesman problem solver with a user-provided cost function.

Parameters:

cost – Function that returns the cost between two poses. The sum of the costs for every pair of poses is minimized.

solve(poses: List[wpimath.geometry._geometry.Pose2d], iterations: int) → list[wpimath.geometry._geometry.Pose2d]

Finds the path through every pose that minimizes the cost. The first pose in the returned array is the first pose that was passed in.

This overload supports a dynamically-sized list of poses for Python to use.

Parameters:

  • poses – An array of Pose2ds the path must pass through.

  • iterations – The number of times the solver attempts to find a better random neighbor.

Returns:

The optimized path as an array of Pose2ds.