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l(>j&YCZi#zt(`L^61c@uL{eeg#w}(~use2iSoyJNab&5*Bv=}_b9C@I zZRAa&xZsqPy&k0NzeC@6f6ej!XyDl1Dos4cd)vp}h{@0=xWogojGdHmQpLXUksi+VRp&r09Y;eFemLx(evaIvb|*c@8oiQTE^X;_A=+e!P+)cBYQ6RPlynRz=KY z0!YG?k~=_H!8AD`VZyc$R?t;KY`E&nROc8$76AN%n`pv$P#}Wdn_9=Lqn8Cst>Ejd za%^A-wn?sqO&dFe@K2~Ap(;)JBPN$=$xA?+S@TdC$5TH2P;_0_s)!OBE)N3u!SS$J zy4g@F12hgoM`1sAV)G2YbOOqs_mi!#+`l5X_u1Q@(3ANDf2I=lnz7=;lf+S!zKb6x&^@M ztwRy0HGFw|j<-OoXQ*gXaa?~D*}z}$qy!_B7;Yj@bXgqAVC)=`jVS;fgPjCvU+9g>KzRH1`l5W;hZe~t9dq$(4zey z8gx2k9P-hv?i&Bh+a=MsT_*4Td8;I>+vViu?e>+z8Ep1($FE_HqRI3U{+}d{RuoyQ z`aBB%6ne(q8F7^;Qf1Dd@YSEMzI?Cb`x9Rm*afqjDcod*A~WWW+MqW{qmHO5t28kl zL5ISnO|zbba47wX|Alu`i}Dq6E9uK9Jc=01CQAHSp5s9n-ZNg)^Snu~?zv30r|L5o O8)623E}UQ!&wl`mRM_ 1: - xrand = sampleFree(self) - xnearest = nearest(self,xrand) - xnew = steer(self,xnearest,xrand) - if not isCollide(self,xnearest,xnew): - self.V.append(xnew) # add point - self.wireup(xnew,xnearest) - #visualization(self) + while ind < self.maxiter and getDist(xnew, self.env.goal) > 1: + xrand = sampleFree(self) + xnearest = nearest(self, xrand) + xnew = steer(self, xnearest, xrand) + if not isCollide(self, xnearest, xnew): + self.V.append(xnew) # add point + self.wireup(xnew, xnearest) + # visualization(self) self.i += 1 ind += 1 - if getDist(xnew,self.env.goal) <= 1: - self.wireup(self.env.goal,xnew) - self.Path,D = path(self) - print('Total distance = '+str(D)) + if getDist(xnew, self.env.goal) <= 1: + self.wireup(self.env.goal, xnew) + self.Path, D = path(self) + print('Total distance = ' + str(D)) visualization(self) + if __name__ == '__main__': p = rrtstar() starttime = time.time() p.run() - print('time used = ' + str(time.time()-starttime)) \ No newline at end of file + print('time used = ' + str(time.time() - starttime)) diff --git a/Sampling-based Planning/rrt_3D/rrtstar3D.py b/Sampling-based Planning/rrt_3D/rrtstar3D.py index 29ba1c3..bcb2ead 100644 --- a/Sampling-based Planning/rrt_3D/rrtstar3D.py +++ b/Sampling-based Planning/rrt_3D/rrtstar3D.py @@ -1,4 +1,3 @@ - """ This is rrt star code for 3D @author: yue qi @@ -10,12 +9,12 @@ import time import os import sys -sys.path.append(os.path.dirname(os.path.abspath(__file__))+"/../../Sampling-based Planning/") + +sys.path.append(os.path.dirname(os.path.abspath(__file__)) + "/../../Sampling-based Planning/") from rrt_3D.env3D import env from rrt_3D.utils3D import getDist, sampleFree, nearest, steer, isCollide, near, visualization, cost, path, edgeset - class rrtstar(): def __init__(self): self.env = env() @@ -27,59 +26,60 @@ class rrtstar(): self.stepsize = 0.5 self.Path = [] - def wireup(self,x,y): - self.E.add_edge([x,y]) # add edge + def wireup(self, x, y): + self.E.add_edge([x, y]) # add edge self.Parent[str(x[0])][str(x[1])][str(x[2])] = y - def removewire(self,xnear): + def removewire(self, xnear): xparent = self.Parent[str(xnear[0])][str(xnear[1])][str(xnear[2])] - a = [xnear,xparent] - self.E.remove_edge(a) # remove and replace old the connection + a = [xnear, xparent] + self.E.remove_edge(a) # remove and replace old the connection def run(self): self.V.append(self.env.start) ind = 0 xnew = self.env.start - while ind < self.maxiter and getDist(xnew,self.env.goal) > 1: - #while ind < self.maxiter: - xrand = sampleFree(self) - xnearest = nearest(self,xrand) - xnew = steer(self,xnearest,xrand) - if not isCollide(self,xnearest,xnew): - Xnear = near(self,xnew) - self.V.append(xnew) # add point + while ind < self.maxiter and getDist(xnew, self.env.goal) > 1: + # while ind < self.maxiter: + xrand = sampleFree(self) + xnearest = nearest(self, xrand) + xnew = steer(self, xnearest, xrand) + if not isCollide(self, xnearest, xnew): + Xnear = near(self, xnew) + self.V.append(xnew) # add point # visualization(self) # minimal path and minimal cost - xmin,cmin = xnearest,cost(self,xnearest) + getDist(xnearest,xnew) + xmin, cmin = xnearest, cost(self, xnearest) + getDist(xnearest, xnew) # connecting along minimal cost path if self.i == 0: - c1 = cost(self,Xnear) + getDist(xnew,Xnear) - if not isCollide(self,xnew,Xnear) and c1 < cmin: - xmin,cmin = Xnear,c1 - self.wireup(xnew,xmin) + c1 = cost(self, Xnear) + getDist(xnew, Xnear) + if not isCollide(self, xnew, Xnear) and c1 < cmin: + xmin, cmin = Xnear, c1 + self.wireup(xnew, xmin) else: for xnear in Xnear: - c1 = cost(self,xnear) + getDist(xnew,xnear) - if not isCollide(self,xnew,xnear) and c1 < cmin: - xmin,cmin = xnear,c1 - self.wireup(xnew,xmin) + c1 = cost(self, xnear) + getDist(xnew, xnear) + if not isCollide(self, xnew, xnear) and c1 < cmin: + xmin, cmin = xnear, c1 + self.wireup(xnew, xmin) # rewire for xnear in Xnear: - c2 = cost(self,xnew) + getDist(xnew,xnear) - if not isCollide(self,xnew,xnear) and c2 < cost(self,xnear): + c2 = cost(self, xnew) + getDist(xnew, xnear) + if not isCollide(self, xnew, xnear) and c2 < cost(self, xnear): self.removewire(xnear) - self.wireup(xnear,xnew) + self.wireup(xnear, xnew) self.i += 1 ind += 1 # when the goal is reached - if getDist(xnew,self.env.goal) <= 1: - self.wireup(self.env.goal,xnew) - self.Path,self.D = path(self) + if getDist(xnew, self.env.goal) <= 1: + self.wireup(self.env.goal, xnew) + self.Path, self.D = path(self) visualization(self) - print('Total distance = '+str(self.D)) + print('Total distance = ' + str(self.D)) + if __name__ == '__main__': p = rrtstar() starttime = time.time() p.run() - print('time used = ' + str(time.time()-starttime)) \ No newline at end of file + print('time used = ' + str(time.time() - starttime))