extern crate rand;
extern crate rrt;
fn main() {
use rand::distributions::{IndependentSample, Range};
let result = rrt::dual_rrt_connect(&[-1.2, 0.0],
&[1.2, 0.0],
|p: &[f64]| !(p[0].abs() < 1.0 && p[1].abs() < 1.0),
|| {
let between = Range::new(-2.0, 2.0);
let mut rng = rand::thread_rng();
vec![between.ind_sample(&mut rng),
between.ind_sample(&mut rng)]
},
0.2,
1000)
.unwrap();
println!("{:?}", result);
assert!(result.len() >= 4);
}
| dual_rrt_connect |
search the path from start to goal which is free, using random_sample function
|