saberbud/PathPlanning
1
0
Fork 0
mirror of https://github.com/zhm-real/PathPlanning.git synced 2026-08-30 00:50:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

update RRT

Browse Source
This commit is contained in:
zhm-real
2020-06-24 19:41:29 -07:00
parent 09fe3e787f
commit 6a637809f1
9 changed files with 181 additions and 81 deletions
Download Patch File Download Diff File Expand all files Collapse all files
Sampling-based Planning/rrt_2D/env.py
+18 -19
View File
@@ -15,37 +15,36 @@ class Env:
@staticmethod
def obs_boundary():
obs_boundary = [
(0, 0, 1, 30),
(0, 30, 50, 1),
(1, 0, 50, 1),
(50, 1, 1, 30)
# (20, 1, 1, 15),
# (10, 15, 10, 1),
# (30, 15, 1, 15),
# (40, 1, 1, 15)
[0, 0, 1, 30],
[0, 30, 50, 1],
[1, 0, 50, 1],
[50, 1, 1, 30]
]
return obs_boundary
@staticmethod
def obs_rectangle():
obs_rectangle = [
(13, 10, 5, 3),
(18, 4, 5, 4),
(22, 13, 6, 3),
(33, 15, 5, 3),
(42, 6, 5, 3)
[13, 10, 5, 3],
[18, 4, 5, 4],
[18, 20, 8, 5],
[22, 13, 6, 3],
[33, 15, 5, 3],
[42, 6, 5, 3]
# [42, 25, 1, 2],
# [45, 23, 2, 1],
# [46, 27, 1, 2]
]
return obs_rectangle
@staticmethod
def obs_circle():
obs_cir = [
(5, 10, 3),
(10, 22, 3.5),
(21, 23, 3),
(34, 9, 4),
(37, 23, 3),
(45, 20, 2)
[5, 10, 3],
[10, 22, 3.5],
[34, 9, 4],
[37, 23, 3],
[45, 20, 2]
]
return obs_cir