rrt star code is clean up

PathPlanning/RRTstar/matplotrecorder.py

@@ -1,59 +0,0 @@
-"""
- A simple Python module for recording matplotlib animation
-
- This tool use convert command of ImageMagick
-
- author: Atsushi Sakai
-"""
-
-import matplotlib.pyplot as plt
-import subprocess
-
-iframe = 0
-donothing = False
-
-
-def save_frame():
-    """
-    Save a frame for movie
-    """
-
-    if not donothing:
-        global iframe
-        plt.savefig("recoder" + '{0:04d}'.format(iframe) + '.png')
-        iframe += 1
-
-
-def save_movie(fname, d_pause):
-    """
-    Save movie as gif
-    """
-    if not donothing:
-        cmd = "convert -delay " + str(int(d_pause * 100)) + \
-            " recoder*.png " + fname
-        subprocess.call(cmd, shell=True)
-        cmd = "rm recoder*.png"
-        subprocess.call(cmd, shell=True)
-
-
-if __name__ == '__main__':
-    print("A sample recording start")
-    import math
-
-    time = range(50)
-
-    x1 = [math.cos(t / 10.0) for t in time]
-    y1 = [math.sin(t / 10.0) for t in time]
-    x2 = [math.cos(t / 10.0) + 2 for t in time]
-    y2 = [math.sin(t / 10.0) + 2 for t in time]
-
-    for ix1, iy1, ix2, iy2 in zip(x1, y1, x2, y2):
-        plt.plot(ix1, iy1, "xr")
-        plt.plot(ix2, iy2, "xb")
-        plt.axis("equal")
-        plt.pause(0.1)
-
-        save_frame()  # save each frame
-
-    save_movie("animation.gif", 0.1)
-    #  save_movie("animation.mp4", 0.1)

PathPlanning/RRTstar/rrt_star.py

@@ -1,11 +1,7 @@
-#!/usr/bin/python
-# -*- coding: utf-8 -*-
-u"""
-@brief: Path Planning Sample Code with Randamized Rapidly-Exploring Random Trees (RRT)
+"""
+Path Planning Sample Code with RRT*
 
-@author: AtsushiSakai(@Atsushi_twi)
-
-@license: MIT
+author: AtsushiSakai(@Atsushi_twi)
 
 """
 
@@ -13,16 +9,19 @@ import random
 import math
 import copy
 import numpy as np
+import matplotlib.pyplot as plt
+
+show_animation = True
 
 
 class RRT():
-    u"""
+    """
     Class for RRT Planning
     """
 
     def __init__(self, start, goal, obstacleList, randArea,
                  expandDis=0.5, goalSampleRate=20, maxIter=1000):
-        u"""
+        """
         Setting Parameter
 
         start:Start Position [x,y]
@@ -40,7 +39,7 @@ class RRT():
         self.maxIter = maxIter
 
     def Planning(self, animation=True):
-        u"""
+        """
         Pathplanning
 
         animation: flag for animation on or off
@@ -186,7 +185,6 @@ class RRT():
         u"""
         Draw Graph
         """
-        import matplotlib.pyplot as plt
         plt.clf()
         if rnd is not None:
             plt.plot(rnd[0], rnd[1], "^k")
@@ -203,7 +201,6 @@ class RRT():
         plt.axis([-2, 15, -2, 15])
         plt.grid(True)
         plt.pause(0.01)
-        matplotrecorder.save_frame()  # save each frame
 
     def GetNearestListIndex(self, nodeList, rnd):
         dlist = [(node.x - rnd[0]) ** 2 + (node.y - rnd[1])
@@ -224,7 +221,7 @@ class RRT():
 
 
 class Node():
-    u"""
+    """
     RRT Node
     """
 
@@ -237,9 +234,6 @@ class Node():
 
 if __name__ == '__main__':
     print("Start rrt planning")
-    import matplotlib.pyplot as plt
-    import matplotrecorder
-    matplotrecorder.donothing = True
 
     # ====Search Path with RRT====
     obstacleList = [
@@ -254,16 +248,12 @@ if __name__ == '__main__':
     # Set Initial parameters
     rrt = RRT(start=[0, 0], goal=[5, 10],
               randArea=[-2, 15], obstacleList=obstacleList)
-    path = rrt.Planning(animation=False)
+    path = rrt.Planning(animation=show_animation)
 
     # Draw final path
     rrt.DrawGraph()
     plt.plot([x for (x, y) in path], [y for (x, y) in path], '-r')
     plt.grid(True)
     plt.pause(0.01)  # Need for Mac
-    for i in range(10):
-        matplotrecorder.save_frame()  # save each frame
 
     plt.show()
-
-    matplotrecorder.save_movie("animation.gif", 0.1)

README.md

@@ -211,7 +211,9 @@ Black circles are obstacles, green line is a searched tree, red crosses are star
 
 ![PythonRobotics/figure_1.png at master · AtsushiSakai/PythonRobotics](https://github.com/AtsushiSakai/PythonRobotics/blob/master/PathPlanning/RRTstar/animation.gif)
 
-This script is a  path planning code with RRT \*
+This script is a  path planning code with RRT\*
+
+Black circles are obstacles, green line is a searched tree, red crosses are start and goal positions.
 
 Ref:
 

tests/test_rrt_star.py

@@ -0,0 +1,13 @@
+from unittest import TestCase
+
+from PathPlanning.RRTstar import rrt_star as m
+
+print(__file__)
+
+
+class Test(TestCase):
+
+    def test1(self):
+        m.show_animation = False
+        m.main()
+        m.main2()