Crate rrt

RRT

RRT (Rapidly-exploring Random Tree) library implemented by rust. Only Dual RRT Connect is supported.

Examples

use rand::distributions::{Distribution, Uniform};
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 = Uniform::new(-2.0, 2.0);
        let mut rng = rand::thread_rng();
        vec![between.sample(&mut rng), between.sample(&mut rng)]
    },
    0.2,
    1000,
)
.unwrap();
println!("{:?}", result);
assert!(result.len() >= 4);

Structs

Node	Node that contains user data
Tree	RRT

Enums

ExtendStatus

Functions

dual_rrt_connect	search the path from start to goal which is free, using random_sample function
smooth_path	select random two points, and try to connect.