Crate rrt [−] [src]
RRT
RRT (Rapidly-exploring Random Tree) library implemented by rust. Only Dual RRT Connect is supported.
Examples
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); }
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. |