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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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PathPlanning/RRTStarDubins/rrt_star_dubins.py
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@@ -81,7 +81,7 @@ class RRTStarDubins(RRTStar):
for i in range(self.max_iter):
print("Iter:", i, ", number of nodes:", len(self.node_list))
rnd = self.get_random_node()
nearest_ind = self.get_nearest_list_index(self.node_list, rnd)
nearest_ind = self.get_nearest_node_index(self.node_list, rnd)
new_node = self.steer(self.node_list[nearest_ind], rnd)
if self.check_collision(new_node, self.obstacle_list):