parameters: (self, start_pos_and_or, goal_pos_and_or)
return_statement: return action_plan, pos_and_or_path, plan_cost
docstring: Returns pre-computed plan from initial agent position
          and orientation to a goal position and orientation.
          
          Args:
              start_pos_and_or (tuple): starting (pos, or) tuple
              goal_pos_and_or (tuple): goal (pos, or) tuple
docstring_summary: Returns pre-computed plan from initial agent position
          and orientation to a goal position and orientation.
          
          Args:
              start_pos_and_or (tuple): starting (pos, or) tuple
              goal_pos_and_or (tuple): goal (pos, or) tuple
docstring_tokens: Returns pre - computed plan from initial agent position and orientation to a goal position and orientation . Args : start_pos_and_or ( tuple ) : starting ( pos or ) tuple goal_pos_and_or ( tuple ) : goal ( pos or ) tuple
function: def get_plan(self, start_pos_and_or, goal_pos_and_or):
          """
          Returns pre-computed plan from initial agent position
          and orientation to a goal position and orientation.
          
          Args:
              start_pos_and_or (tuple): starting (pos, or) tuple
              goal_pos_and_or (tuple): goal (pos, or) tuple
          """
          plan_key = (start_pos_and_or, goal_pos_and_or)
          action_plan, pos_and_or_path, plan_cost = self.all_plans[plan_key]
          return action_plan, pos_and_or_path, plan_cost
function_tokens: def get_plan ( self , start_pos_and_or , goal_pos_and_or ) : plan_key = ( start_pos_and_or , goal_pos_and_or ) action_plan , pos_and_or_path , plan_cost = self . all_plans [ plan_key ] return action_plan , pos_and_or_path , plan_cost