mirror of
https://github.com/zhm-real/PathPlanning.git
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zhm-real
86 lines
3.0 KiB
Python
86 lines
3.0 KiB
Python
"""
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This is rrt star code for 3D
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@author: yue qi
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"""
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import numpy as np
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from numpy.matlib import repmat
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from collections import defaultdict
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import time
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import os
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import sys
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sys.path.append(os.path.dirname(os.path.abspath(__file__)) + "/../../Sampling-based Planning/")
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from rrt_3D.env3D import env
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from rrt_3D.utils3D import getDist, sampleFree, nearest, steer, isCollide, near, visualization, cost, path, edgeset
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class rrtstar():
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def __init__(self):
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self.env = env()
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self.Parent = defaultdict(lambda: defaultdict(dict))
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self.E = edgeset()
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self.V = []
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self.i = 0
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self.maxiter = 10000
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self.stepsize = 0.5
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self.Path = []
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def wireup(self, x, y):
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self.E.add_edge([x, y]) # add edge
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self.Parent[str(x[0])][str(x[1])][str(x[2])] = y
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def removewire(self, xnear):
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xparent = self.Parent[str(xnear[0])][str(xnear[1])][str(xnear[2])]
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a = [xnear, xparent]
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self.E.remove_edge(a) # remove and replace old the connection
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def run(self):
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self.V.append(self.env.start)
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ind = 0
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xnew = self.env.start
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while ind < self.maxiter and getDist(xnew, self.env.goal) > 1:
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# while ind < self.maxiter:
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xrand = sampleFree(self)
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xnearest = nearest(self, xrand)
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xnew = steer(self, xnearest, xrand)
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if not isCollide(self, xnearest, xnew):
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Xnear = near(self, xnew)
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self.V.append(xnew) # add point
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# visualization(self)
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# minimal path and minimal cost
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xmin, cmin = xnearest, cost(self, xnearest) + getDist(xnearest, xnew)
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# connecting along minimal cost path
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if self.i == 0:
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c1 = cost(self, Xnear) + getDist(xnew, Xnear)
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if not isCollide(self, xnew, Xnear) and c1 < cmin:
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xmin, cmin = Xnear, c1
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self.wireup(xnew, xmin)
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else:
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for xnear in Xnear:
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c1 = cost(self, xnear) + getDist(xnew, xnear)
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if not isCollide(self, xnew, xnear) and c1 < cmin:
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xmin, cmin = xnear, c1
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self.wireup(xnew, xmin)
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# rewire
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for xnear in Xnear:
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c2 = cost(self, xnew) + getDist(xnew, xnear)
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if not isCollide(self, xnew, xnear) and c2 < cost(self, xnear):
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self.removewire(xnear)
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self.wireup(xnear, xnew)
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self.i += 1
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ind += 1
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# when the goal is reached
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if getDist(xnew, self.env.goal) <= 1:
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self.wireup(self.env.goal, xnew)
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self.Path, self.D = path(self)
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visualization(self)
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print('Total distance = ' + str(self.D))
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if __name__ == '__main__':
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p = rrtstar()
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starttime = time.time()
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p.run()
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print('time used = ' + str(time.time() - starttime))
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