From d2fd1f0c85ddadf68e0eaf09c5efa0470af1411f Mon Sep 17 00:00:00 2001
From: 391311qy <391311qy@gmail.com>
Date: Wed, 24 Jun 2020 09:15:59 -0700
Subject: [PATCH] yue qi

---
 .../rrt_3D/__pycache__/env3D.cpython-37.pyc   | Bin 1537 -> 1569 bytes
 .../rrt_3D/__pycache__/utils3D.cpython-37.pyc | Bin 5364 -> 5396 bytes
 Sampling-based Planning/rrt_3D/rrt3D.py       |   7 +------
 Sampling-based Planning/rrt_3D/rrtstar3D.py   |   5 +++--
 4 files changed, 4 insertions(+), 8 deletions(-)

diff --git a/Sampling-based Planning/rrt_3D/__pycache__/env3D.cpython-37.pyc b/Sampling-based Planning/rrt_3D/__pycache__/env3D.cpython-37.pyc
index 9aafad5acf5ca73f4e427beb2f63ecc55c9e1e8c..15349fded17479e47e7e17efa9c49849b517e0be 100644
GIT binary patch
delta 56
zcmZqVS;)if#LLUY00cKGK5yhMW|At_&&bbB)lbYxt<ZN#EzT~<FVJ_-EXgQMnmmz7
KYV#zfd}aXD_Yv{{

delta 45
zcmZ3;)5yc^#LLUY00gskf7-}h%p@GFpOK%Ns$Z3nU#cHal%HOdn7er+QvovoAt??w

diff --git a/Sampling-based Planning/rrt_3D/__pycache__/utils3D.cpython-37.pyc b/Sampling-based Planning/rrt_3D/__pycache__/utils3D.cpython-37.pyc
index 42deba7dc939337eb092a38187b880368279bef1..90cfeabbc15f22b7c2cb5dcbd8f657df441afbcd 100644
GIT binary patch
delta 77
zcmeyOIYo=xiI<m)0SInXeBQ`Co6)#bKO;XkRX;H&wL;$|wK%&Zzd+wTvm~Q5NxvYm
eBty3#CowNCGcR2?F(*C02q=+Tym=?1wJ-qh(HmX>

delta 49
zcmbQD^+l80iI<m)0SLtQeA>u8n^8DaKO;XkRlh1Dzf?b<C_lX@F?aF-Mybu885M;A
DZs8B^

diff --git a/Sampling-based Planning/rrt_3D/rrt3D.py b/Sampling-based Planning/rrt_3D/rrt3D.py
index 0700580..bfd5bc8 100644
--- a/Sampling-based Planning/rrt_3D/rrt3D.py	
+++ b/Sampling-based Planning/rrt_3D/rrt3D.py	
@@ -5,7 +5,7 @@ This is rrt star code for 3D
 """
 import numpy as np
 from numpy.matlib import repmat
-from rrt_3D.env3D import env
+from env3D import env
 from collections import defaultdict
 import pyrr as pyrr
 from utils3D import getDist, sampleFree, nearest, steer, isCollide, near, visualization, cost, path
@@ -27,11 +27,6 @@ class rrtstar():
         self.E.append([x,y]) # add edge
         self.Parent[str(x[0])][str(x[1])][str(x[2])] = y
 
-    def removewire(self,xnear):
-        xparent = self.Parent[str(xnear[0])][str(xnear[1])][str(xnear[2])]
-        a = np.array([xnear,xparent])
-        self.E = [xx for xx in self.E if not (xx==a).all()] # remove and replace old the connection
-
     def run(self):
         self.V.append(self.env.start)
         ind = 0
diff --git a/Sampling-based Planning/rrt_3D/rrtstar3D.py b/Sampling-based Planning/rrt_3D/rrtstar3D.py
index bcd6418..b00d5c7 100644
--- a/Sampling-based Planning/rrt_3D/rrtstar3D.py	
+++ b/Sampling-based Planning/rrt_3D/rrtstar3D.py	
@@ -5,10 +5,10 @@ This is rrt star code for 3D
 """
 import numpy as np
 from numpy.matlib import repmat
-from rrt_3D.env3D import env
+from env3D import env
 from collections import defaultdict
 import pyrr as pyrr
-from rrt_3D.utils3D import getDist, sampleFree, nearest, steer, isCollide, near, visualization, cost, path
+from utils3D import getDist, sampleFree, nearest, steer, isCollide, near, visualization, cost, path
 import time
 
 
@@ -66,6 +66,7 @@ class rrtstar():
                             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,D = path(self)