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optimize test

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Atsushi Sakai
2019-02-06 15:59:49 +09:00
parent 0e71384027
commit 3146531f2f
15 changed files with 165 additions and 65 deletions
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13
PathPlanning/ClosedLoopRRTStar/closed_loop_rrt_star_car.py
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@@ -13,7 +13,9 @@ import pure_pursuit
import matplotlib.pyplot as plt
import sys
sys.path.append("../ReedsSheppPath/")
import os
sys.path.append(os.path.dirname(
os.path.abspath(__file__)) + "/../ReedsSheppPath/")
try:
import reeds_shepp_path_planning
@@ -405,8 +407,8 @@ class Node():
self.parent = None
def main():
print("Start rrt start planning")
def main(gx=6.0, gy=7.0, gyaw=np.deg2rad(90.0), maxIter=500):
print("Start" + __file__)
# ====Search Path with RRT====
obstacleList = [
(5, 5, 1),
@@ -422,9 +424,10 @@ def main():
# Set Initial parameters
start = [0.0, 0.0, np.deg2rad(0.0)]
goal = [6.0, 7.0, np.deg2rad(90.0)]
goal = [gx, gy, gyaw]
rrt = RRT(start, goal, randArea=[-2.0, 20.0], obstacleList=obstacleList)
rrt = RRT(start, goal, randArea=[-2.0, 20.0],
obstacleList=obstacleList, maxIter=maxIter)
flag, x, y, yaw, v, t, a, d = rrt.Planning(animation=show_animation)
if not flag: