support no obstacle in RRT* (AtsushiSakai#375)

Author: mahyaret

PathPlanning/RRTStar/rrt_star.py

@@ -81,13 +81,13 @@ def planning(self, animation=True, search_until_max_iter=True):
 
             if (not search_until_max_iter) and new_node:  # check reaching the goal
                 last_index = self.search_best_goal_node()
-                if last_index:
+                if last_index is not None:
                     return self.generate_final_course(last_index)
 
         print("reached max iteration")
 
         last_index = self.search_best_goal_node()
-        if last_index:
+        if last_index is not None:
             return self.generate_final_course(last_index)
 
         return None

tests/test_rrt_star.py

@@ -20,7 +20,18 @@ def test1(self):
         m.show_animation = False
         m.main()
 
+    def test_no_obstacle(self):
+        obstacle_list = []
+
+        # Set Initial parameters
+        rrt_star = m.RRTStar(start=[0, 0],
+                             goal=[6, 10],
+                             rand_area=[-2, 15],
+                             obstacle_list=obstacle_list)
+        path = rrt_star.planning(animation=False)
+        assert path is not None
 
 if __name__ == '__main__':  # pragma: no cover
     test = Test()
     test.test1()
+    test.test_no_obstacle()