saberbud/PathPlanning
1
0
Fork 0
mirror of https://github.com/zhm-real/PathPlanning.git synced 2026-08-31 01:20:51 +08:00
Code Issues Packages Projects Releases Wiki Activity

changed ball radius

Browse Source
This commit is contained in:
391311qy
2020-06-25 01:53:19 -07:00
parent 1ec999814c
commit 95efabd017
3 changed files with 61 additions and 45 deletions
Download Patch File Download Diff File Expand all files Collapse all files
Sampling-based Planning/rrt_3D/plot_util3D.py
+4 -4
View File
@@ -66,7 +66,7 @@ def visualization(initparams):
xs = i[0][0], i[1][0]
ys = i[0][1], i[1][1]
zs = i[0][2], i[1][2]
line = plt3d.art3d.Line3D(xs, ys, zs)
line = plt3d.art3d.Line3D(xs, ys, zs, alpha=0.25)
ax.add_line(line)
if Path != []:
@@ -79,7 +79,7 @@ def visualization(initparams):
ax.plot(start[0:1], start[1:2], start[2:], 'go', markersize=7, markeredgecolor='k')
ax.plot(goal[0:1], goal[1:2], goal[2:], 'ro', markersize=7, markeredgecolor='k')
ax.scatter3D(V[:, 0], V[:, 1], V[:, 2], s=2, color='g')
ax.scatter3D(V[:, 0], V[:, 1], V[:, 2], s=2, color='g',)
xmin, xmax = initparams.env.boundary[0], initparams.env.boundary[3]
ymin, ymax = initparams.env.boundary[1], initparams.env.boundary[4]
@@ -89,7 +89,7 @@ def visualization(initparams):
ax.set_ylim3d(ymin, ymax)
ax.set_zlim3d(zmin, zmax)
ax.get_proj = make_get_proj(ax,1*dx, 1*dy, 2*dy)
ax.dist = 5
#ax.dist = 5
plt.xlabel('x')
plt.ylabel('y')
if not Path != []:
@@ -135,7 +135,7 @@ def make_get_proj(self, rx, ry, rz):
self.eye = E
self.vvec = R - E
self.vvec = self.vvec / proj3d.mod(self.vvec)
self.vvec = self.vvec / np.linalg.norm(self.vvec)
if abs(relev) > np.pi/2:
# upside down