def steer(self, rand, near_index):
curvature = 1.0
nearest_node = self.nodeList[near_index]
px, py, pyaw, mode, clen = dubins_path.dubins_path_planning(
nearest_node.x, nearest_node.y, nearest_node.yaw, rand.x, rand.y, rand.yaw, curvature)
new_node = copy.deepcopy(nearest_node)
new_node.x = px[-1]
new_node.y = py[-1]
new_node.yaw = pyaw[-1]
new_node.path_x = px
new_node.path_y = py
new_node.path_yaw = pyaw
new_node.cost += clen
new_node.parent = near_index
return new_node
def steer(self, rnd, nind):
# print(rnd)
curvature = 1.0
nearestNode = self.nodeList[nind]
px, py, pyaw, mode, clen = dubins_path.dubins_path_planning(
nearestNode.x, nearestNode.y, nearestNode.yaw, rnd.x, rnd.y,
rnd.yaw, curvature)
newNode = copy.deepcopy(nearestNode)
newNode.x = px[-1]
newNode.y = py[-1]
newNode.yaw = pyaw[-1]
newNode.path_x = px
newNode.path_y = py
newNode.path_yaw = pyaw
newNode.cost += clen
newNode.parent = nind
return newNode