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https://github.com/AtsushiSakai/PythonRobotics.git
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b53fdf75f6
* Add optional robot radius to RRT/RRTStar path planners. * update __init__ and check_collision to include radius * during animation, if a robot radius is given then it is drawn * Add test for robot radius * Correct import error * Correct missing robot_radius errors * Address "expected 2 blank lines, found 1" error * Address "line too long" errors * Add missing argument description. * Remove collision_check_with_xy and replace with check_collision * Fix "missing whitespace after ','" error * Update PathPlanning/ClosedLoopRRTStar/closed_loop_rrt_star_car.py Co-authored-by: Atsushi Sakai <asakai.amsl+github@gmail.com> Co-authored-by: Atsushi Sakai <asakai.amsl+github@gmail.com>
37 lines
935 B
Python
37 lines
935 B
Python
import conftest # Add root path to sys.path
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from PathPlanning.RRTStar import rrt_star as m
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def test1():
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m.show_animation = False
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m.main()
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def test_no_obstacle():
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obstacle_list = []
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# Set Initial parameters
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rrt_star = m.RRTStar(start=[0, 0],
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goal=[6, 10],
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rand_area=[-2, 15],
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obstacle_list=obstacle_list)
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path = rrt_star.planning(animation=False)
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assert path is not None
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def test_no_obstacle_and_robot_radius():
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obstacle_list = []
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# Set Initial parameters
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rrt_star = m.RRTStar(start=[0, 0],
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goal=[6, 10],
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rand_area=[-2, 15],
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obstacle_list=obstacle_list,
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robot_radius=0.8)
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path = rrt_star.planning(animation=False)
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assert path is not None
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if __name__ == '__main__':
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conftest.run_this_test(__file__)
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