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add reed shepp path gif

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Atsushi Sakai
2018-02-08 12:09:33 -08:00
parent fac0a6b5e9
commit f956e6dacc
3 changed files with 25 additions and 21 deletions
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4
PathPlanning/RRTDubins/rrt_dubins.py
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@@ -62,6 +62,10 @@ class RRT():
# generate coruse
lastIndex = self.get_best_last_index()
# print(lastIndex)
if lastIndex is None:
return None
path = self.gen_final_course(lastIndex)
return path

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PathPlanning/ReedsSheppPath/animation.gif Normal file
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42
PathPlanning/ReedsSheppPath/reeds_shepp_path_planning.py
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@@ -9,6 +9,7 @@ import numpy as np
import math
import matplotlib.pyplot as plt
show_animation = True
@@ -387,41 +388,39 @@ def reeds_shepp_path_planning(sx, sy, syaw,
def test():
NTEST = 100
NTEST = 5
for i in range(NTEST):
start_x = (np.random.rand() - 0.5) * 100.0 # [m]
start_y = (np.random.rand() - 0.5) * 100.0 # [m]
start_x = (np.random.rand() - 0.5) * 10.0 # [m]
start_y = (np.random.rand() - 0.5) * 10.0 # [m]
start_yaw = math.radians((np.random.rand() - 0.5) * 180.0) # [rad]
end_x = (np.random.rand() - 0.5) * 100.0 # [m]
end_y = (np.random.rand() - 0.5) * 100.0 # [m]
end_x = (np.random.rand() - 0.5) * 10.0 # [m]
end_y = (np.random.rand() - 0.5) * 10.0 # [m]
end_yaw = math.radians((np.random.rand() - 0.5) * 180.0) # [rad]
curvature = 1.0 / (np.random.rand() * 20.0)
# print(curvature)
step_size = 0.1
# print(start_x, start_y, start_yaw)
# print(end_x, end_y, end_yaw)
px, py, pyaw, mode, clen = reeds_shepp_path_planning(
start_x, start_y, start_yaw, end_x, end_y, end_yaw, curvature, step_size)
# print(len(px))
# plt.plot(px, py, label="final course " + str(mode))
if show_animation:
plt.cla()
plt.plot(px, py, label="final course " + str(mode))
# plotting
# plot_arrow(start_x, start_y, start_yaw)
# plot_arrow(end_x, end_y, end_yaw)
# plotting
plot_arrow(start_x, start_y, start_yaw)
plot_arrow(end_x, end_y, end_yaw)
# plt.legend()
# plt.grid(True)
# plt.axis("equal")
# plt.show()
plt.legend()
plt.grid(True)
plt.axis("equal")
plt.xlim(-10, 10)
plt.ylim(-10, 10)
plt.pause(1.0)
if not px:
assert False, "No path"
# plt.show()
print("Test done")
@@ -444,7 +443,8 @@ def main():
start_x, start_y, start_yaw, end_x, end_y, end_yaw, curvature, step_size)
if show_animation:
# plt.plot(px, py, label="final course " + str(mode))
plt.cla()
plt.plot(px, py, label="final course " + str(mode))
# plotting
plot_arrow(start_x, start_y, start_yaw)