mirror of
https://github.com/zhm-real/PathPlanning.git
synced 2026-08-29 16:40:46 +08:00
zhm-real
50 lines
998 B
Python
50 lines
998 B
Python
import env
|
|
import plotting
|
|
import matplotlib.pyplot as plt
|
|
import matplotlib.patches as patches
|
|
|
|
|
|
class RRT:
|
|
def __init__(self, xI, xG):
|
|
# Plotting = plotting.Plotting(xI, xG)
|
|
# Plotting.animation([xI, xG], [xI, xG], "zhou")
|
|
fig, ax = plt.subplots()
|
|
|
|
plt.axis([-5, 5, -5, 5])
|
|
|
|
ax.plot()
|
|
|
|
ax.add_patch(
|
|
patches.Rectangle(
|
|
(1, 1),
|
|
0.5,
|
|
0.5,
|
|
edgecolor='black',
|
|
facecolor='black',
|
|
fill=True
|
|
))
|
|
|
|
ax.add_patch(
|
|
patches.Circle(
|
|
(3, 3),
|
|
0.5,
|
|
edgecolor='black',
|
|
facecolor='black',
|
|
fill=True
|
|
)
|
|
)
|
|
|
|
plt.axis("equal")
|
|
plt.show()
|
|
|
|
|
|
def planning(self):
|
|
return
|
|
|
|
|
|
if __name__ == '__main__':
|
|
x_Start = (5, 5) # Starting node
|
|
x_Goal = (49, 5) # Goal node
|
|
|
|
rrt = RRT(x_Start, x_Goal)
|