github/PythonRobotics
1
1
Fork 0
mirror of https://github.com/AtsushiSakai/PythonRobotics.git synced 2026-04-22 03:00:22 -04:00
Code Issues Packages Projects Releases Wiki Activity

Reopen: Added missing path types (#949)

Browse Source 
* added missing RS path types

* modified assert condition in test3

* removed linting errors

* added sign check to avoid non RS paths

* Mathematical description of RS curves

* Undid debugging changes

* Added large step_size consideration

* renamed test3 to test_too_big_step_size

---------

Co-authored-by: Videh Patel <videh.patel@fluxauto.xyz>
This commit is contained in:
Videh Patel
2024-01-08 18:06:49 +05:30
committed by GitHub
parent 49ae54ab70
commit d7060f6028
15 changed files with 607 additions and 136 deletions
Download Patch File Download Diff File Expand all files Collapse all files

6
tests/test_rrt_star_reeds_shepp.py
View File

@@ -32,16 +32,14 @@ def test2():
# + 0.00000000000001 for acceptable errors arising from the planning process
assert m.math.dist(path[i][0:2], path[i+1][0:2]) < step_size + 0.00000000000001
def test3():
def test_too_big_step_size():
step_size = 20
rrt_star_reeds_shepp = m.RRTStarReedsShepp(start, goal,
obstacleList, [-2.0, 15.0],
max_iter=100, step_size=step_size)
rrt_star_reeds_shepp.set_random_seed(seed=8)
path = rrt_star_reeds_shepp.planning(animation=False)
for i in range(len(path)-1):
# + 0.00000000000001 for acceptable errors arising from the planning process
assert m.math.dist(path[i][0:2], path[i+1][0:2]) < step_size + 0.00000000000001
assert path is None
if __name__ == '__main__':