Add optional robot radius to RRT/RRTStar path planners #655
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* update __init__ and check_collision to include radius * during animation, if a robot radius is given then it is drawn
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This pull request introduces 1 alert when merging 53c23a4 into 7ac2a17 - view on LGTM.com new alerts:
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@cmower Thank you for PR. It looks good improvement. Could you please fix CI errors? Other RRT related scripts are using the changed codes. |
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@AtsushiSakai thanks, looks like all CI checks pass now, let me know if you need any other changes. |
AtsushiSakai
requested changes
Apr 10, 2022
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@cmower Thank you. I have some comments. I will merge this PR after addressing these. PTAL.
AtsushiSakai
requested changes
Apr 18, 2022
Co-authored-by: Atsushi Sakai <[email protected]>
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@AtsushiSakai no worries, assuming CI goes green, then should be ok to merge? |
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__init__andcheck_collisionin RRT class to include a robot radiusWhat does this implement?
This simply adds an optional robot radius feature for the RRT/RRTStar path planners.
Additional information
Examples updated to highlight feature.
CheckList
test_rrt_star.py