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update RRT_2D

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zhm-real
2020-06-24 12:55:13 -07:00
parent d2fd1f0c85
commit 0f3c445664
8 changed files with 211 additions and 243 deletions
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Sampling-based Planning/rrt_2D/plotting.py
+4 -7
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@@ -5,17 +5,14 @@ from rrt_2D import env
class Plotting:
def __init__(self, xI, xG):
self.xI, self.xG = xI, xG
def __init__(self, x_start, x_goal):
self.xI, self.xG = x_start, x_goal
self.env = env.Env()
self.obs_bound = self.env.obs_boundary
self.obs_circle = self.env.obs_circle
self.obs_rectangle = self.env.obs_rectangle
def animation(self, nodelist, path, animation=False):
if path is None:
print("No path found!")
return
self.plot_grid("RRT")
self.plot_visited(nodelist, animation)
self.plot_path(path)
@@ -55,6 +52,7 @@ class Plotting:
plt.plot(self.xI[0], self.xI[1], "bs", linewidth=3)
plt.plot(self.xG[0], self.xG[1], "gs", linewidth=3)
plt.title(name)
plt.axis("equal")
@@ -72,9 +70,8 @@ class Plotting:
if node.parent:
plt.plot([node.parent.x, node.x], [node.parent.y, node.y], "-g")
@staticmethod
def plot_path(path):
plt.plot([x[0] for x in path], [x[1] for x in path], '-r', linewidth=2)
plt.pause(0.01)
plt.show()
plt.show()