From 89c200e0ab855010e2f892b6465b50dab002963c Mon Sep 17 00:00:00 2001 From: zhm-real Date: Mon, 14 Dec 2020 12:15:31 -0800 Subject: [PATCH] Update rrt.py --- Sampling_based_Planning/rrt_2D/rrt.py | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/Sampling_based_Planning/rrt_2D/rrt.py b/Sampling_based_Planning/rrt_2D/rrt.py index 4d86d37..2257f2e 100644 --- a/Sampling_based_Planning/rrt_2D/rrt.py +++ b/Sampling_based_Planning/rrt_2D/rrt.py @@ -41,7 +41,6 @@ class Rrt: self.obs_boundary = self.env.obs_boundary def planning(self): - print("z") for i in range(self.iter_max): node_rand = self.generate_random_node(self.goal_sample_rate) node_near = self.nearest_neighbor(self.vertex, node_rand) @@ -51,9 +50,8 @@ class Rrt: self.vertex.append(node_new) dist, _ = self.get_distance_and_angle(node_new, self.s_goal) - if dist <= self.step_len: + if dist <= self.step_len and not self.utils.is_collision(node_new, self.s_goal): self.new_state(node_new, self.s_goal) - print(i) return self.extract_path(node_new) return None