c = rrt.worst_cost
fname = "rrt_2d_di_%d,%d.png" % (start_time, rrt.n_iters)
draw(rrt, a.gca())
a.savefig(fname)
plt.ion()
import shelve
s = shelve.open("rrt_2d_di_%d,%d.shelve" % (start_time, rrt.n_iters))
upath = rrt.best_solution_goal()[2]
xpath = lqr_rrt.run_forward(start, upath)
s['traj'] = xpath
s['utraj'] = upath
s.close()
rrt.improved_solution_hook = hook
rrt_int = RRT_Interactive(rrt,
lqr_rrt.run_forward,
plot_dims=[2, 3],
slider_range=(0, max_time_horizon))
obstacles_patches = [PolygonPatch(poly) for poly in obstacles_polys]
obstacle_patch_collection = PatchCollection(obstacles_patches)
rrt_int.int_ax.add_collection(obstacle_patch_collection)
if False and __name__ == '__main__':
# if False:
# rrt.load(shelve.open('kin_rrt.shelve'))
i = 0
c = rrt.worst_cost
fname = "rrt_2d_di_%d,%d.png"%(start_time,rrt.n_iters)
draw(rrt,a.gca())
a.savefig(fname)
plt.ion()
import shelve
s = shelve.open("rrt_2d_di_%d,%d.shelve"%(start_time,rrt.n_iters))
upath = rrt.best_solution_goal()[2]
xpath = lqr_rrt.run_forward(start,upath)
s['traj'] = xpath
s['utraj'] = upath
s.close()
rrt.improved_solution_hook = hook
rrt_int = RRT_Interactive(rrt,lqr_rrt.run_forward,plot_dims=[2,3],slider_range=(0,max_time_horizon))
obstacles_patches = [PolygonPatch(poly) for poly in obstacles_polys]
obstacle_patch_collection = PatchCollection(obstacles_patches)
rrt_int.int_ax.add_collection(obstacle_patch_collection)
if False and __name__ == '__main__':
# if False:
# rrt.load(shelve.open('kin_rrt.shelve'))
i = 0
if i>0:
rrt.load(shelve.open('linship_rrt_%04d.shelve'%(i-1)))
