From 839ef345f055de8a910fd8fe001b99c35f87b561 Mon Sep 17 00:00:00 2001 From: AtsushiSakai Date: Mon, 22 May 2017 16:20:21 -0700 Subject: [PATCH] add --- README.md | 9 +++++++++ scripts/PathPlanning/RRTStarCar/rrt_star_car.py | 5 ++--- 2 files changed, 11 insertions(+), 3 deletions(-) diff --git a/README.md b/README.md index a0a15605..cf6412f7 100644 --- a/README.md +++ b/README.md @@ -44,8 +44,17 @@ This script is a path planning code with RRT \* Path planning for a car robot with RRT and dubins path planner. + +## RRTStarCar + +![PythonRobotics/figure_1.png at master ยท AtsushiSakai/PythonRobotics](https://github.com/AtsushiSakai/PythonRobotics/blob/master/scripts/PathPlanning/RRTStarCar/animation.gif) + +Path planning for a car robot with RRT\* and ducings path planner. + + ## Dubins path planning + A sample code for Dubins path planning. [Dubins path - Wikipedia](https://en.wikipedia.org/wiki/Dubins_path) diff --git a/scripts/PathPlanning/RRTStarCar/rrt_star_car.py b/scripts/PathPlanning/RRTStarCar/rrt_star_car.py index 096e1c0a..590f4c68 100644 --- a/scripts/PathPlanning/RRTStarCar/rrt_star_car.py +++ b/scripts/PathPlanning/RRTStarCar/rrt_star_car.py @@ -60,10 +60,9 @@ class RRT(): self.nodeList.append(newNode) self.rewire(newNode, nearinds) - if animation: + if animation and i % 5 == 0: self.DrawGraph(rnd=rnd) - if i % 5 == 0: - matplotrecorder.save_frame() # save each frame + matplotrecorder.save_frame() # save each frame # generate coruse lastIndex = self.get_best_last_index()