From 049e5a251550b32d06834bdafbacdb74eaed3ac0 Mon Sep 17 00:00:00 2001 From: zhm-real Date: Wed, 24 Jun 2020 20:33:22 -0700 Subject: [PATCH] update --- .../.idea/Sampling-based Planning.iml | 2 +- Sampling-based Planning/.idea/misc.xml | 2 +- Sampling-based Planning/gif/RRT_2D.gif | Bin 0 -> 187521 bytes .../rrt_2D/__pycache__/env.cpython-37.pyc | Bin 1303 -> 1314 bytes .../__pycache__/plotting.cpython-37.pyc | Bin 2831 -> 2842 bytes .../rrt_2D/__pycache__/rrt.cpython-37.pyc | Bin 3513 -> 3524 bytes .../rrt_2D/__pycache__/utils.cpython-37.pyc | Bin 2978 -> 2973 bytes Sampling-based Planning/rrt_2D/plotting.py | 2 +- Sampling-based Planning/rrt_2D/rrt_star.py | 2 +- Sampling-based Planning/rrt_2D/utils.py | 3 +-- 10 files changed, 5 insertions(+), 6 deletions(-) create mode 100644 Sampling-based Planning/gif/RRT_2D.gif diff --git a/Sampling-based Planning/.idea/Sampling-based Planning.iml b/Sampling-based Planning/.idea/Sampling-based Planning.iml index 5965bde..c444878 100644 --- 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032c16243ddc2db3754228a887e09e0b1df4b3ec..ee4ba90e86aad3ff397cb531d66a7ef1eb2ed53e 100644 GIT binary patch delta 331 zcmW+wJxjw-6n!^MnxsvlSZNA6bSoX|;9_x8iwcTcmk|00zR*6+SKmv7&bsMRvMN~p z1(Hbze@I;f7k_|1z?a_3Ih=bB=W<`{C)+wS%^DIlT|XSMtOhIoft zf;7-{&D2@~4Wr6rvFffbRg6h|i81Smd8tHMn9P_hbiP@?X_jGG63McqmVg09GW6jp7BfS#$Vu`J?z58Qd9C*izVA7*g1qnW6+XPO)HQ zpEVN%PENken5h%2pOK%Ns$Z3nU#cHal%HOdn5$oqSdyVzkdv5~mzkHYo0yZHUzAyr zky||Rwxm>1QAxa!i+*WIW=^qQLFFxu`1s7c%#!$ckFA zkxlWI^sS2@xQdg^7a^3YjDrIhc4Dd6)q~>{bH+ diff --git a/Sampling-based Planning/rrt_2D/plotting.py b/Sampling-based Planning/rrt_2D/plotting.py index c61b1b7..0e231e0 100644 --- a/Sampling-based Planning/rrt_2D/plotting.py +++ b/Sampling-based Planning/rrt_2D/plotting.py @@ -77,7 +77,7 @@ class Plotting: plt.plot([node.parent.x, node.x], [node.parent.y, node.y], "-g") plt.gcf().canvas.mpl_connect('key_release_event', lambda event: [exit(0) if event.key == 'escape' else None]) - if count % 5 == 0: plt.pause(0.001) + if count % 10 == 0: plt.pause(0.001) else: for node in nodelist: if node.parent: diff --git a/Sampling-based Planning/rrt_2D/rrt_star.py b/Sampling-based Planning/rrt_2D/rrt_star.py index 3653faf..3a469be 100644 --- a/Sampling-based Planning/rrt_2D/rrt_star.py +++ b/Sampling-based Planning/rrt_2D/rrt_star.py @@ -170,7 +170,7 @@ def main(): x_start = (2, 2) # Starting node x_goal = (49, 28) # Goal node - rrt_star = RrtStar(x_start, x_goal, 1, 0.1, 10, 20000) + rrt_star = RrtStar(x_start, x_goal, 1.2, 0.15, 10, 20000) path = rrt_star.planning() if path: diff --git a/Sampling-based Planning/rrt_2D/utils.py b/Sampling-based Planning/rrt_2D/utils.py index b8a4dc4..28ed399 100644 --- a/Sampling-based Planning/rrt_2D/utils.py +++ b/Sampling-based Planning/rrt_2D/utils.py @@ -5,7 +5,6 @@ utils for collision check import math import numpy as np -import pyrr import os import sys @@ -20,7 +19,7 @@ class Utils: def __init__(self): self.env = env.Env() - self.delta = 0.2 + self.delta = 0.5 self.obs_circle = self.env.obs_circle self.obs_rectangle = self.env.obs_rectangle self.obs_boundary = self.env.obs_boundary