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AtsushiSakai
2017-05-25 15:55:18 -07:00
parent 2dee0aa461
commit b7ae13df5a
2 changed files with 3 additions and 3 deletions
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scripts/PathPlanning/RRTStarCar_reeds_sheep/animation.gif Normal file
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scripts/PathPlanning/RRTStarCar_reeds_sheep/rrt_star_car.py
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@@ -1,7 +1,7 @@
#!/usr/bin/python
# -*- coding: utf-8 -*-
"""
@brief: Path Planning Sample Code with RRT for car like robot.
@brief: Path Planning Sample Code with RRT* for car like robot with reeds shepp curve.
@author: AtsushiSakai(@Atsushi_twi)
@@ -22,7 +22,7 @@ class RRT():
"""
def __init__(self, start, goal, obstacleList, randArea,
goalSampleRate=10, maxIter=2000):
goalSampleRate=10, maxIter=1000):
u"""
Setting Parameter
@@ -293,7 +293,7 @@ if __name__ == '__main__':
goal = [5.5, 10.0, math.radians(0.0)]
rrt = RRT(start, goal, randArea=[-2.0, 15.0], obstacleList=obstacleList)
path = rrt.Planning(animation=False)
path = rrt.Planning(animation=True)
# Draw final path
rrt.DrawGraph()