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')
#ani_ax.set_aspect('auto')
#should be able to move this out, but patch transforms get stuck and the obstacles don't pan/zoom
obstacles_patches = [PolygonPatch(poly) for poly in obstacles_polys]
obstacle_patch_collection = PatchCollection(obstacles_patches)
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')
#ani_ax.set_aspect('auto')
#should be able to move this out, but patch transforms get stuck and the obstacles don't pan/zoom
obstacles_patches = [PolygonPatch(poly) for poly in obstacles_polys]
obstacle_patch_collection = PatchCollection(obstacles_patches)
