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cleanup closed loop RRT star.

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Atsushi Sakai
2019-07-28 19:50:02 +09:00
parent 0747db006f
commit 76977ac256
7 changed files with 87 additions and 300 deletions
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4
PathPlanning/RRT/rrt.py
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@@ -63,7 +63,7 @@ class RRT:
self.node_list = [self.start]
for i in range(self.max_iter):
rnd_node = self.get_random_node()
nearest_ind = self.get_nearest_list_index(self.node_list, rnd_node)
nearest_ind = self.get_nearest_node_index(self.node_list, rnd_node)
nearest_node = self.node_list[nearest_ind]
new_node = self.steer(nearest_node, rnd_node, self.expand_dis)
@@ -154,7 +154,7 @@ class RRT:
plt.pause(0.01)
@staticmethod
def get_nearest_list_index(node_list, rnd_node):
def get_nearest_node_index(node_list, rnd_node):
dlist = [(node.x - rnd_node.x) ** 2 + (node.y - rnd_node.y)
** 2 for node in node_list]
minind = dlist.index(min(dlist))