rrt.sample_goal = lambda: goal rrt.set_distance(lqr_rrt.distance_cache) rrt.set_same_state(lqr_rrt.same_state) rrt.set_cost(lqr_rrt.cost) rrt.set_steer(lqr_rrt.steer_cache) rrt.set_goal_test(goal_test) rrt.set_sample(sample) rrt.set_collision_free(lqr_rrt.collision_free) rrt.set_distance_from_goal(distance_from_goal) rrt.gamma_rrt = 1.0 rrt.eta = .2 rrt.c = 1 rrt.max_nodes_in_ball = 30 lqr_rrt.max_steer_cost = .015 rrt.set_start(start) rrt.init_search() def draw(rrt, ani_ax=None): if ani_ax is None: ani_ax = plt.figure().gca() ani_ax.cla() ani_ax.set_xlim(-10, 110) ani_ax.set_ylim(-10, 110)
rrt.set_distance(lqr_rrt.distance_cache) rrt.set_same_state(lqr_rrt.same_state) rrt.set_cost(lqr_rrt.cost) rrt.set_steer(lqr_rrt.steer_cache) rrt.set_goal_test(goal_test) rrt.set_sample(sample) rrt.set_collision_free(lqr_rrt.collision_free) rrt.set_distance_from_goal(distance_from_goal) rrt.gamma_rrt = 1.0 rrt.eta = .2 rrt.c = 1 rrt.max_nodes_in_ball = 30 lqr_rrt.max_steer_cost = .015 rrt.set_start(start) rrt.init_search() def draw(rrt,ani_ax=None): if ani_ax is None: ani_ax = plt.figure().gca() ani_ax.cla() ani_ax.set_xlim(-10,110) ani_ax.set_ylim(-10,110) #ani_ax.set_aspect('equal')