RyderCRD 80124f20e8 Fix the rewire() of rrt* path planning (#550) (#812) ...

* Update rrt_star_reeds_shepp.py to fix #550

Add step_size attribute to RRTStarReedsShepp, and a method set_random_seed() to set the random seed, with two test cases.

* Update rewire() of rrt_star.py

Update rewire() of rrt_star.py to fix #550.  Since the old version didn't assign path_yaw of edge_node to near_node, the old rewire() doesn't fit rrt_star_reeds_shepp.py

* Update reeds_shepp_path_planning.py

Limit the range of phi for the sake of planning speed, and simplify the the calculation process in straight_left_straight().

* Update reeds_shepp_path_planning.py

* Remove unnecessary cost calculation

Cost of edge_node is calculated in line 221, and self.node_list[i] is replaced to edge_node, so no need to update.

* Update reeds_shepp_path_planning.py

2023-04-27 23:04:39 +09:00

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rrt_star_reeds_shepp.py

Fix the rewire() of rrt* path planning (#550) (#812)

2023-04-27 23:04:39 +09:00