def test6():
obstacles = [Polygon([(2,0), (2, 2), (3, 2), (3, 0)]),
Polygon([(4,4), (4,8), (7,1)]),
Polygon([(2,2), (1,8), (2,4), (3,3)])]
workspace = Workspace(dim=(12,12), obstacles=obstacles)
car_rrt = RRT(workspace, (1, 1, pi), (10, 10, pi), 10000, num_rand_actions=4, max_control_time=1, step_threshold=.05)
results = car_rrt.build_rrt()
print(results)
ax = workspace.graph_results(results, car_rrt, plot_tree=False)
plt.show()
def test22():
obstacles = [Polygon([(2,0), (8, 0), (8, 1), (2, 1)]),
Polygon([(2,10), (8,10), (8,8), (2,8)]),
Polygon([(2,1), (2,8), (3,8), (3,1)])]
workspace = Workspace(dim=(12,12), obstacles=obstacles)
car_rrt = RRT(workspace, (1, 6, pi), (6, 6, pi), 10000, num_rand_actions=6, max_control_time=1, step_threshold=.05)
results = car_rrt.build_rrt()
print(results)
anim = workspace.animate_results(results, car_rrt, plot_tree=True)
plt.show()