Fix the rewire() of rrt* path planning (#550) #812
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Add step_size attribute to RRTStarReedsShepp, and a method set_random_seed() to set the random seed, with two test cases.
Update rewire() of rrt_star.py to fix AtsushiSakai#550. Since the old version didn't assign path_yaw of edge_node to near_node, the old rewire() doesn't fit rrt_star_reeds_shepp.py
Limit the range of phi for the sake of planning speed, and simplify the the calculation process in straight_left_straight().
3 tasks
RyderCRD
changed the title
AtsushiSakai
reviewed
Apr 5, 2023
added 3 commits
April 5, 2023 21:21
Cost of edge_node is calculated in line 221, and self.node_list[i] is replaced to edge_node, so no need to update.
AtsushiSakai
approved these changes
Apr 27, 2023
|
@RyderCRD LGTM. Thank you!! |
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Reference issue
fix #550
What does this implement/fix?
rrt_star_reeds_shepp.py needs its own version of rewire(), which not only updates path_x , path_y, but also path_yaw when rewiring.
Before this pull request, it uses the rewire() in rrt_star.py, which only cares about path_x, and path_y, thus issue #550 might occur.
The range of phi in rrt_star_reeds_shepp.py is changed from (0, 0.99*math.pi) to (0.01*math.pi, 0.99*math.pi) for the sake of speed.
Additional information
Two tests are added into tests/test_rrt_star_reeds_shepp.py.
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